{
  "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_b_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
  },
  "camera": {
    "camera_id": "b",
    "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": 40,
    "used_marker_ids": [
      71,
      59,
      47,
      105,
      63,
      102,
      92,
      62,
      69,
      95,
      55,
      58,
      64,
      103,
      96,
      51,
      79,
      205,
      217,
      208,
      210,
      207,
      214,
      206,
      94,
      76,
      68,
      56,
      75,
      53,
      50,
      104,
      67,
      86,
      60,
      70,
      90,
      91,
      61,
      83
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3,
        4
      ],
      "rms": [
        0.01606681965439232,
        0.0011844573780833033,
        5.916681116708727e-05,
        5.806361605582324e-05,
        5.806361422677187e-05
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125,
        6.25e-05
      ]
    },
    "residual_rms_px": 0.5583849530027893,
    "residual_median_px": 0.3656883419124161,
    "residual_max_px": 1.3646678267472303,
    "sigma2_normalized": 3.644738699540577e-09
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          0.9999255537986755,
          -0.012202664278447628,
          1.505151317360287e-06
        ],
        [
          -0.009513603523373604,
          -0.77965247631073,
          -0.6261401772499084
        ],
        [
          0.007641752250492573,
          0.6260935664176941,
          -0.7797104716300964
        ]
      ],
      "translation_m": [
        -0.3110427260398865,
        0.05307088419795036,
        1.4964808225631714
      ],
      "rvec_rad": [
        2.4649611933707036,
        -0.015039454418586937,
        0.00529328620697099
      ]
    },
    "camera_in_world": {
      "position_m": [
        0.30008870363235474,
        -0.8993557095527649,
        1.20005202293396
      ],
      "position_mm": [
        300.0887145996094,
        -899.355712890625,
        1200.052001953125
      ],
      "orientation_deg": {
        "roll": 141.23614501953125,
        "pitch": -0.4378443956375122,
        "yaw": -0.5451134443283081
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          1.4560708769055394e-08,
          2.1936742562751363e-10,
          1.2675787077661743e-09,
          3.687137310703419e-10,
          2.749810366282835e-10,
          3.5125442434861984e-09
        ],
        [
          2.1936742562749468e-10,
          3.2279927442388154e-09,
          -6.013761807147279e-10,
          5.3247126827197174e-11,
          -9.235338408840129e-10,
          6.194040438321499e-10
        ],
        [
          1.2675787077661664e-09,
          -6.013761807147288e-10,
          2.8246948284464387e-08,
          1.01741492519163e-09,
          -3.0968766097353222e-09,
          -1.0245527921767557e-08
        ],
        [
          3.687137310703429e-10,
          5.3247126827197413e-11,
          1.017414925191631e-09,
          2.7692452471853247e-10,
          -9.700717784692928e-11,
          7.978308454001119e-11
        ],
        [
          2.749810366282906e-10,
          -9.235338408840125e-10,
          -3.096876609735322e-09,
          -9.700717784692909e-11,
          8.902879755157365e-10,
          1.4739798827806617e-09
        ],
        [
          3.512544243486197e-09,
          6.194040438321502e-10,
          -1.0245527921767535e-08,
          7.97830845400122e-11,
          1.4739798827806592e-09,
          9.320546277796218e-09
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          0.006913753481845208,
          0.003255284177852837,
          0.009629603376915014
        ],
        "tvec_std_m": [
          1.6641049387539613e-05,
          2.9837693870601603e-05,
          9.654297632555264e-05
        ]
      },
      "camera_center_std_m": [
        0.00018938460138082685,
        0.00013298282610747891,
        0.00015698416725781205
      ],
      "camera_center_std_mm": [
        0.18938460138082686,
        0.1329828261074789,
        0.15698416725781206
      ],
      "orientation_std_deg": {
        "roll": 0.009206219629625007,
        "pitch": 0.007050606054364086,
        "yaw": 0.003291733954296055
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 71,
        "observed_center_px": [
          4682.75,
          3069.0
        ],
        "projected_center_px": [
          4682.1103515625,
          3069.43994140625
        ],
        "reprojection_error_px": 0.7763366309336556,
        "confidence": 0.93711003907764
      },
      {
        "marker_id": 59,
        "observed_center_px": [
          4054.25,
          3052.75
        ],
        "projected_center_px": [
          4054.75390625,
          3052.1767578125
        ],
        "reprojection_error_px": 0.7632352942041187,
        "confidence": 0.9005919489792288
      },
      {
        "marker_id": 47,
        "observed_center_px": [
          2634.0,
          3105.25
        ],
        "projected_center_px": [
          2633.888427734375,
          3104.025146484375
        ],
        "reprojection_error_px": 1.229924593296523,
        "confidence": 0.9079122340425532
      },
      {
        "marker_id": 105,
        "observed_center_px": [
          3536.5,
          3002.0
        ],
        "projected_center_px": [
          3536.97509765625,
          3000.720703125
        ],
        "reprojection_error_px": 1.3646678267472303,
        "confidence": 0.9206770471787415
      },
      {
        "marker_id": 63,
        "observed_center_px": [
          4767.25,
          2851.75
        ],
        "projected_center_px": [
          4766.87060546875,
          2852.192138671875
        ],
        "reprojection_error_px": 0.5826034805163767,
        "confidence": 0.9143902497434336
      },
      {
        "marker_id": 102,
        "observed_center_px": [
          4125.25,
          2802.25
        ],
        "projected_center_px": [
          4126.08203125,
          2801.357666015625
        ],
        "reprojection_error_px": 1.2200557121079043,
        "confidence": 0.9172583330383073
      },
      {
        "marker_id": 92,
        "observed_center_px": [
          4073.25,
          2637.5
        ],
        "projected_center_px": [
          4073.147216796875,
          2637.949951171875
        ],
        "reprojection_error_px": 0.46154137833602826,
        "confidence": 0.8712206048456203
      },
      {
        "marker_id": 62,
        "observed_center_px": [
          2910.5,
          2610.0
        ],
        "projected_center_px": [
          2909.43701171875,
          2609.341552734375
        ],
        "reprojection_error_px": 1.2503986914915852,
        "confidence": 0.8035181060868406
      },
      {
        "marker_id": 69,
        "observed_center_px": [
          927.5,
          3097.75
        ],
        "projected_center_px": [
          927.6011352539062,
          3098.35595703125
        ],
        "reprojection_error_px": 0.6143388831125661,
        "confidence": 0.905262596430799
      },
      {
        "marker_id": 95,
        "observed_center_px": [
          1834.0,
          3055.0
        ],
        "projected_center_px": [
          1834.0386962890625,
          3055.3525390625
        ],
        "reprojection_error_px": 0.3546564441478365,
        "confidence": 0.8976746337642635
      },
      {
        "marker_id": 55,
        "observed_center_px": [
          2327.25,
          2997.0
        ],
        "projected_center_px": [
          2326.904052734375,
          2997.414794921875
        ],
        "reprojection_error_px": 0.5401243725353464,
        "confidence": 0.903108340169161
      },
      {
        "marker_id": 58,
        "observed_center_px": [
          1176.5,
          2811.75
        ],
        "projected_center_px": [
          1176.709228515625,
          2811.9560546875
        ],
        "reprojection_error_px": 0.29365814477273317,
        "confidence": 0.8844949082067705
      },
      {
        "marker_id": 64,
        "observed_center_px": [
          844.5,
          2686.5
        ],
        "projected_center_px": [
          844.792724609375,
          2686.771728515625
        ],
        "reprojection_error_px": 0.3994046608860645,
        "confidence": 0.8683683754371148
      },
      {
        "marker_id": 103,
        "observed_center_px": [
          1462.5,
          2677.75
        ],
        "projected_center_px": [
          1462.4964599609375,
          2677.96533203125
        ],
        "reprojection_error_px": 0.2153611282446649,
        "confidence": 0.8544539072325071
      },
      {
        "marker_id": 96,
        "observed_center_px": [
          2743.5,
          2658.75
        ],
        "projected_center_px": [
          2743.357666015625,
          2659.11669921875
        ],
        "reprojection_error_px": 0.3933538866465197,
        "confidence": 0.8589505521773345
      },
      {
        "marker_id": 51,
        "observed_center_px": [
          1768.0,
          2608.5
        ],
        "projected_center_px": [
          1767.8828125,
          2608.80029296875
        ],
        "reprojection_error_px": 0.3223488440136531,
        "confidence": 0.8509910811659294
      },
      {
        "marker_id": 79,
        "observed_center_px": [
          2463.5,
          2547.25
        ],
        "projected_center_px": [
          2463.201171875,
          2547.470703125
        ],
        "reprojection_error_px": 0.37149443828378004,
        "confidence": 0.847596675022278
      },
      {
        "marker_id": 205,
        "observed_center_px": [
          4517.5,
          2177.0
        ],
        "projected_center_px": [
          4517.68505859375,
          2177.252197265625
        ],
        "reprojection_error_px": 0.31281007641930964,
        "confidence": 0.8406075482029924
      },
      {
        "marker_id": 217,
        "observed_center_px": [
          4048.5,
          2181.75
        ],
        "projected_center_px": [
          4048.182373046875,
          2182.017822265625
        ],
        "reprojection_error_px": 0.41547039282718934,
        "confidence": 0.8283605841985052
      },
      {
        "marker_id": 208,
        "observed_center_px": [
          2637.0,
          2196.5
        ],
        "projected_center_px": [
          2636.69091796875,
          2196.345458984375
        ],
        "reprojection_error_px": 0.3455642162493571,
        "confidence": 0.555731533757512
      },
      {
        "marker_id": 210,
        "observed_center_px": [
          1115.25,
          1945.0
        ],
        "projected_center_px": [
          1115.3828125,
          1944.92578125
        ],
        "reprojection_error_px": 0.15214329761055037,
        "confidence": 0.8018014734907156
      },
      {
        "marker_id": 207,
        "observed_center_px": [
          4444.0,
          1875.5
        ],
        "projected_center_px": [
          4443.9384765625,
          1875.429443359375
        ],
        "reprojection_error_px": 0.09361288852557541,
        "confidence": 0.5521704751987732
      },
      {
        "marker_id": 214,
        "observed_center_px": [
          2625.75,
          1893.0
        ],
        "projected_center_px": [
          2625.911865234375,
          1893.26416015625
        ],
        "reprojection_error_px": 0.3098079118571669,
        "confidence": 0.3714994272958438
      },
      {
        "marker_id": 206,
        "observed_center_px": [
          3990.0,
          1880.0
        ],
        "projected_center_px": [
          3990.12890625,
          1879.88134765625
        ],
        "reprojection_error_px": 0.17520045652460686,
        "confidence": 0.615736458854544
      },
      {
        "marker_id": 94,
        "observed_center_px": [
          4790.0,
          1326.0
        ],
        "projected_center_px": [
          4789.94482421875,
          1325.749755859375
        ],
        "reprojection_error_px": 0.2562547497192835,
        "confidence": 0.28171181487333746
      },
      {
        "marker_id": 76,
        "observed_center_px": [
          4002.5,
          1354.5
        ],
        "projected_center_px": [
          4002.68505859375,
          1354.555908203125
        ],
        "reprojection_error_px": 0.19331945142016568,
        "confidence": 0.38152191383003176
      },
      {
        "marker_id": 68,
        "observed_center_px": [
          3535.5,
          1347.0
        ],
        "projected_center_px": [
          3535.68359375,
          1346.75
        ],
        "reprojection_error_px": 0.3101719926735206,
        "confidence": 0.31374894776688467
      },
      {
        "marker_id": 56,
        "observed_center_px": [
          3223.0,
          1356.0
        ],
        "projected_center_px": [
          3223.380859375,
          1355.8355712890625
        ],
        "reprojection_error_px": 0.4148381184341171,
        "confidence": 0.24873977465808988
      },
      {
        "marker_id": 75,
        "observed_center_px": [
          1041.5,
          1294.75
        ],
        "projected_center_px": [
          1041.3941650390625,
          1294.795654296875
        ],
        "reprojection_error_px": 0.11526210903758782,
        "confidence": 0.5936570493548425
      },
      {
        "marker_id": 53,
        "observed_center_px": [
          3157.5,
          1221.5
        ],
        "projected_center_px": [
          3157.366943359375,
          1221.2335205078125
        ],
        "reprojection_error_px": 0.2978512873413816,
        "confidence": 0.38398719734985104
      },
      {
        "marker_id": 50,
        "observed_center_px": [
          3515.0,
          1219.0
        ],
        "projected_center_px": [
          3515.340087890625,
          1219.1497802734375
        ],
        "reprojection_error_px": 0.37160988100530135,
        "confidence": 0.3623663304874521
      },
      {
        "marker_id": 104,
        "observed_center_px": [
          4530.75,
          1127.25
        ],
        "projected_center_px": [
          4530.82373046875,
          1127.58349609375
        ],
        "reprojection_error_px": 0.34154915688463283,
        "confidence": 0.39700135080267007
      },
      {
        "marker_id": 67,
        "observed_center_px": [
          3288.25,
          1055.75
        ],
        "projected_center_px": [
          3288.37841796875,
          1056.21875
        ],
        "reprojection_error_px": 0.4860223628577969,
        "confidence": 0.5839714749266356
      },
      {
        "marker_id": 86,
        "observed_center_px": [
          2640.5,
          989.5
        ],
        "projected_center_px": [
          2640.646484375,
          989.4552001953125
        ],
        "reprojection_error_px": 0.15318190042945273,
        "confidence": 0.6090685099870305
      },
      {
        "marker_id": 60,
        "observed_center_px": [
          2927.5,
          1011.0
        ],
        "projected_center_px": [
          2927.63134765625,
          1010.5891723632812
        ],
        "reprojection_error_px": 0.4313137534258343,
        "confidence": 0.6917774793825247
      },
      {
        "marker_id": 70,
        "observed_center_px": [
          3589.25,
          956.75
        ],
        "projected_center_px": [
          3589.486572265625,
          957.2701416015625
        ],
        "reprojection_error_px": 0.571413792744757,
        "confidence": 0.6939122141587843
      },
      {
        "marker_id": 90,
        "observed_center_px": [
          3744.75,
          910.0
        ],
        "projected_center_px": [
          3745.005615234375,
          910.19091796875
        ],
        "reprojection_error_px": 0.319043600211965,
        "confidence": 0.5726348871880571
      },
      {
        "marker_id": 91,
        "observed_center_px": [
          4054.0,
          874.5
        ],
        "projected_center_px": [
          4053.904296875,
          874.846923828125
        ],
        "reprojection_error_px": 0.3598822455410522,
        "confidence": 0.7118063415160157
      },
      {
        "marker_id": 61,
        "observed_center_px": [
          1119.75,
          878.75
        ],
        "projected_center_px": [
          1119.5321044921875,
          878.5348510742188
        ],
        "reprojection_error_px": 0.30621481445170656,
        "confidence": 0.684257310321457
      },
      {
        "marker_id": 83,
        "observed_center_px": [
          1383.5,
          867.25
        ],
        "projected_center_px": [
          1382.998046875,
          866.8056030273438
        ],
        "reprojection_error_px": 0.6704070472506277,
        "confidence": 0.6697424063408578
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}