{ "schema_version": "1.0", "created_utc": "2026-06-01T19:31:55Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\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, 1777.77783203125, 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": 9, "used_marker_ids": [ 208, 103, 58, 214, 64, 211, 72, 84, 86 ], "history": { "iters": [ 0, 1, 2, 3 ], "rms": [ 0.00592128797069254, 0.0002194332973785019, 7.664644811953067e-05, 7.664508292835141e-05 ], "lambda": [ 0.001, 0.0005, 0.00025, 0.000125 ] }, "residual_rms_px": 0.1926882876782969, "residual_median_px": 0.1532091843546219, "residual_max_px": 0.36992141357038616, "sigma2_normalized": 8.81170310356566e-09 }, "camera_pose": { "world_to_camera": { "rotation_matrix": [ [ 0.819083571434021, 0.573674201965332, -7.804717461112887e-05 ], [ 0.16154244542121887, -0.23077847063541412, -0.959502637386322 ], [ -0.5504599213600159, 0.7859002351760864, -0.28169959783554077 ] ], "translation_m": [ -0.1149967834353447, 0.08632534742355347, 1.1262248754501343 ], "rvec_rad": [ 1.790890359735796, 0.5647255469066017, -0.4228724418736391 ] }, "camera_in_world": { "position_m": [ 0.700188398361206, -0.7992076277732849, 0.4000775218009949 ], "position_mm": [ 700.1884155273438, -799.2076416015625, 400.0775146484375 ], "orientation_deg": { "roll": 109.71980285644531, "pitch": 33.3985710144043, "yaw": 11.156882286071777 } }, "uncertainty": { "pose_covariance_6x6": [ [ 1.474264434205888e-07, 6.374158505004994e-08, 6.5393212187082e-08, 2.323551745772562e-10, -2.8175754378558378e-08, -6.281842445634639e-09 ], [ 6.374158505004971e-08, 7.516394631858262e-08, -3.098788390694164e-09, 6.231784272508069e-09, -1.4652912297735088e-08, 1.4871976782740992e-08 ], [ 6.539321218708259e-08, -3.0987883906935035e-09, 1.30834849529192e-07, -7.83447200398745e-09, -2.20136873576919e-08, -3.713327527158082e-08 ], [ 2.3235517457724588e-10, 6.231784272508058e-09, -7.834472003987483e-09, 2.015321468609898e-09, 3.824536871097561e-10, 4.720259558328338e-09 ], [ -2.8175754378558405e-08, -1.4652912297735193e-08, -2.201368735769175e-08, 3.824536871097535e-10, 8.462319544152771e-09, 6.50882687645283e-09 ], [ -6.281842445634875e-09, 1.4871976782740766e-08, -3.713327527158089e-08, 4.720259558328354e-09, 6.508826876452886e-09, 3.3381200906306504e-08 ] ], "parameter_std": { "rvec_std_deg": [ 0.02199937418702532, 0.0157082360647714, 0.020724513862507427 ], "tvec_std_m": [ 4.4892331957806536e-05, 9.19908666344261e-05, 0.00018270522955379933 ] }, "camera_center_std_m": [ 0.0003266235513242862, 0.0001808706851681404, 0.0003924503039833442 ], "camera_center_std_mm": [ 0.3266235513242862, 0.1808706851681404, 0.39245030398334424 ], "orientation_std_deg": { "roll": 0.02672957057968057, "pitch": 0.018277498858926877, "yaw": 0.022351358840042954 } } }, "observations": { "markers": [ { "marker_id": 208, "observed_center_px": [ 887.5, 696.5 ], "projected_center_px": [ 887.3785400390625, 696.5933837890625 ], "reprojection_error_px": 0.1532091843546219, "confidence": 0.06739671544456982 }, { "marker_id": 103, "observed_center_px": [ 379.5, 691.25 ], "projected_center_px": [ 379.3415832519531, 691.183349609375 ], "reprojection_error_px": 0.1718666361811162, "confidence": 0.17416420855033052 }, { "marker_id": 58, "observed_center_px": [ 261.5, 685.0 ], "projected_center_px": [ 261.4269714355469, 685.0563354492188 ], "reprojection_error_px": 0.09223260846773548, "confidence": 0.24540823915500745 }, { "marker_id": 214, "observed_center_px": [ 958.75, 638.25 ], "projected_center_px": [ 958.720947265625, 638.2713012695312 ], "reprojection_error_px": 0.03602506708261993, "confidence": 0.32624039952470835 }, { "marker_id": 64, "observed_center_px": [ 211.5, 631.75 ], "projected_center_px": [ 211.63552856445312, 631.7791748046875 ], "reprojection_error_px": 0.13863318870775002, "confidence": 0.45882243623190877 }, { "marker_id": 211, "observed_center_px": [ 792.0, 593.5 ], "projected_center_px": [ 792.3450927734375, 593.3667602539062 ], "reprojection_error_px": 0.36992141357038616, "confidence": 0.3071912693949274 }, { "marker_id": 72, "observed_center_px": [ 1249.0, 596.75 ], "projected_center_px": [ 1249.1597900390625, 596.575439453125 ], "reprojection_error_px": 0.23665215213239527, "confidence": 0.013395930107400523 }, { "marker_id": 84, "observed_center_px": [ 1226.5, 549.5 ], "projected_center_px": [ 1226.3973388671875, 549.6629638671875 ], "reprojection_error_px": 0.19260459547749867, "confidence": 0.07285288505606423 }, { "marker_id": 86, "observed_center_px": [ 1174.5, 518.5 ], "projected_center_px": [ 1174.351318359375, 518.5086669921875 ], "reprojection_error_px": 0.14893403577597647, "confidence": 0.14539527499019034 } ] }, "qa": { "sanity_notes": [] } }