appRobotRender/data/evaluations/Scene4/render_d_camera_pose.json

{
  "schema_version": "1.0",
  "created_utc": "2026-06-02T11:34:35Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene4\\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": [
      [
        1992.8416748046875,
        0.0,
        719.249267578125
      ],
      [
        0.0,
        1997.40380859375,
        537.7935791015625
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ],
    "distortion_coefficients": [
      0.019999999552965164,
      -0.009999999776482582,
      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": [
      95,
      208,
      69,
      51,
      58,
      214,
      64,
      211
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3
      ],
      "rms": [
        0.01025077670656169,
        0.001635011732824927,
        0.0015849950017542771,
        0.0015849918186903243
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125
      ]
    },
    "residual_rms_px": 4.482099813482871,
    "residual_median_px": 3.9734724427394985,
    "residual_max_px": 7.365972189363775,
    "sigma2_normalized": 4.019518503223584e-06
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          0.8137235641479492,
          0.5812505483627319,
          -0.0013406152138486505
        ],
        [
          0.1618010401725769,
          -0.22872793674468994,
          -0.9599499702453613
        ],
        [
          -0.5582780838012695,
          0.7809169888496399,
          -0.2801682651042938
        ]
      ],
      "translation_m": [
        -0.11264180392026901,
        0.08715580403804779,
        1.1227692365646362
      ],
      "rvec_rad": [
        1.787743235762642,
        0.5719340965182171,
        -0.43074400244521505
      ]
    },
    "camera_in_world": {
      "position_m": [
        0.7043748497962952,
        -0.7913814783096313,
        0.3980785310268402
      ],
      "position_mm": [
        704.3748779296875,
        -791.3814697265625,
        398.0785217285156
      ],
      "orientation_deg": {
        "roll": 109.73637390136719,
        "pitch": 33.936798095703125,
        "yaw": 11.246026992797852
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          0.0001514749475697957,
          3.356580504324191e-05,
          2.7527139604622153e-05,
          -2.57881609089409e-06,
          -3.096536135170435e-05,
          -3.9375221983572915e-06
        ],
        [
          3.3565805043241476e-05,
          5.315614337257972e-05,
          -4.3732252526111656e-05,
          1.0941855311800544e-05,
          -9.31720480474573e-06,
          -1.829471986907818e-06
        ],
        [
          2.7527139604622597e-05,
          -4.3732252526111195e-05,
          0.00013819934430687761,
          -2.0297950573614935e-05,
          -5.95617560073179e-06,
          1.1794093449207588e-06
        ],
        [
          -2.578816090894202e-06,
          1.0941855311800497e-05,
          -2.0297950573615002e-05,
          4.095432536918085e-06,
          8.402718377852458e-09,
          -1.1995372028492678e-06
        ],
        [
          -3.0965361351704336e-05,
          -9.317204804745822e-06,
          -5.956175600731665e-06,
          8.402718377832525e-09,
          7.465352886161573e-06,
          3.3548347919741495e-06
        ],
        [
          -3.9375221983573245e-06,
          -1.8294719869078671e-06,
          1.1794093449208306e-06,
          -1.1995372028492477e-06,
          3.354834791974158e-06,
          1.3613683851754314e-05
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          0.7051687172229221,
          0.4177335574330118,
          0.6735589692507088
        ],
        "tvec_std_m": [
          0.002023717504227822,
          0.0027322797964633074,
          0.0036896725941137805
        ]
      },
      "camera_center_std_m": [
        0.008207422517337727,
        0.00805357150047758,
        0.010349418393442302
      ],
      "camera_center_std_mm": [
        8.207422517337728,
        8.053571500477581,
        10.349418393442303
      ],
      "orientation_std_deg": {
        "roll": 0.8267996784452986,
        "pitch": 0.6195812452718638,
        "yaw": 0.5104139409350278
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 95,
        "observed_center_px": [
          421.5,
          1048.25
        ],
        "projected_center_px": [
          423.16033935546875,
          1045.4034423828125
        ],
        "reprojection_error_px": 3.295393306312095,
        "confidence": 0.20059440065661768
      },
      {
        "marker_id": 208,
        "observed_center_px": [
          1003.75,
          919.75
        ],
        "projected_center_px": [
          998.244140625,
          920.6378173828125
        ],
        "reprojection_error_px": 5.576980111359501,
        "confidence": 0.5971711979967728
      },
      {
        "marker_id": 69,
        "observed_center_px": [
          128.0,
          929.75
        ],
        "projected_center_px": [
          124.60504150390625,
          932.9298095703125
        ],
        "reprojection_error_px": 4.651551579166902,
        "confidence": 0.6485521925210277
      },
      {
        "marker_id": 51,
        "observed_center_px": [
          549.25,
          937.25
        ],
        "projected_center_px": [
          551.0654907226562,
          936.3114624023438
        ],
        "reprojection_error_px": 2.043736623507363,
        "confidence": 0.775025713517728
      },
      {
        "marker_id": 58,
        "observed_center_px": [
          291.75,
          903.5
        ],
        "projected_center_px": [
          293.9588623046875,
          905.538818359375
        ],
        "reprojection_error_px": 3.005969557995214,
        "confidence": 0.6668670535817509
      },
      {
        "marker_id": 214,
        "observed_center_px": [
          1073.0,
          853.25
        ],
        "projected_center_px": [
          1080.1917724609375,
          854.8424682617188
        ],
        "reprojection_error_px": 7.365972189363775,
        "confidence": 0.41285121294657384
      },
      {
        "marker_id": 64,
        "observed_center_px": [
          238.75,
          848.0
        ],
        "projected_center_px": [
          239.31793212890625,
          845.2676391601562
        ],
        "reprojection_error_px": 2.7907602301444006,
        "confidence": 0.5529673325477359
      },
      {
        "marker_id": 211,
        "observed_center_px": [
          897.5,
          804.5
        ],
        "projected_center_px": [
          892.9674682617188,
          803.3545532226562
        ],
        "reprojection_error_px": 4.675028585822126,
        "confidence": 0.3764293280418822
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}