appRobotRender/data/evaluations/Scene9b/render_c_camera_pose.json

{
  "schema_version": "1.0",
  "created_utc": "2026-05-31T14:41:44Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9b\\render_c_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
  },
  "camera": {
    "camera_id": "c",
    "camera_matrix": [
      [
        2000.0,
        0.0,
        720.0
      ],
      [
        0.0,
        2250.0,
        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": 6,
    "used_marker_ids": [
      64,
      51,
      79,
      208,
      214,
      210
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15,
        16
      ],
      "rms": [
        0.20954890381004515,
        0.1869720826308988,
        0.1869720826308988,
        0.1869720826308988,
        0.1869720826308988,
        0.1869720826308988,
        0.1869720826308988,
        0.1869720826308988,
        0.1869720826308988,
        0.15123783003445085,
        0.07237763575425858,
        0.06980797776818796,
        0.06977710860596799,
        0.06977638564520809,
        0.06977636308919233,
        0.06977636235798676,
        0.06977636233443539
      ],
      "lambda": [
        0.001,
        0.0005,
        0.001,
        0.002,
        0.004,
        0.008,
        0.016,
        0.032,
        0.064,
        0.032,
        0.016,
        0.008,
        0.004,
        0.002,
        0.001,
        0.0005,
        0.00025
      ]
    },
    "residual_rms_px": 205.92139826650651,
    "residual_median_px": 205.93958330461788,
    "residual_max_px": 271.7407604995317,
    "sigma2_normalized": 0.009737481481051276
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          0.9992696642875671,
          0.03819894790649414,
          -0.0009960827883332968
        ],
        [
          0.038155462592840195,
          -0.9960373044013977,
          0.08033572882413864
        ],
        [
          0.002076604636386037,
          -0.08031506836414337,
          -0.9967673420906067
        ]
      ],
      "translation_m": [
        0.032195404171943665,
        0.18292811512947083,
        0.26057642698287964
      ],
      "rvec_rad": [
        3.221430123957364,
        0.0616146844199677,
        0.0008719341394840627
      ]
    },
    "camera_in_world": {
      "position_m": [
        -0.0396927110850811,
        0.2019016146659851,
        0.2450704723596573
      ],
      "position_mm": [
        -39.692710876464844,
        201.901611328125,
        245.07046508789062
      ],
      "orientation_deg": {
        "roll": -175.393310546875,
        "pitch": -0.1189807653427124,
        "yaw": 2.1866824626922607
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          0.013386986084594626,
          -0.002323857222543801,
          0.0031826197623536193,
          -0.00048304860288038047,
          0.00030844490752469597,
          -0.002162251071397383
        ],
        [
          -0.0023238572225430932,
          0.041047880137537227,
          0.03199019290396687,
          0.0026942100613567897,
          -0.007527240017338354,
          -0.006553975955421315
        ],
        [
          0.003182619762354393,
          0.03199019290396655,
          0.03814245328056149,
          0.0018584254555266615,
          -0.006887016820608166,
          -0.008476463041940916
        ],
        [
          -0.00048304860288035336,
          0.002694210061356823,
          0.0018584254555267063,
          0.0005599101938695058,
          -0.00018337868052566085,
          -4.7487646417936934e-05
        ],
        [
          0.0003084449075245338,
          -0.007527240017338332,
          -0.006887016820608216,
          -0.0001833786805256468,
          0.0019547700370231564,
          0.0017897759440283487
        ],
        [
          -0.0021622510713975663,
          -0.006553975955421171,
          -0.00847646304194084,
          -4.748764641792104e-05,
          0.001789775944028318,
          0.0023987922239534242
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          6.629244521514204,
          11.608283317098534,
          11.189919027162508
        ],
        "tvec_std_m": [
          0.02366242155548552,
          0.04421278137623957,
          0.04897746649177991
        ]
      },
      "camera_center_std_m": [
        0.06633448319244387,
        0.05915244450880047,
        0.0612163737333524
      ],
      "camera_center_std_mm": [
        66.33448319244387,
        59.15244450880047,
        61.2163737333524
      ],
      "orientation_std_deg": {
        "roll": 7.061898426527034,
        "pitch": 7.1949823168810445,
        "yaw": 6.982820813710977
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 64,
        "observed_center_px": [
          498.75,
          3154.5
        ],
        "projected_center_px": [
          744.9483032226562,
          3269.519287109375
        ],
        "reprojection_error_px": 271.7407604995317,
        "confidence": 0.6341971118783114
      },
      {
        "marker_id": 51,
        "observed_center_px": [
          2039.0,
          3175.5
        ],
        "projected_center_px": [
          2000.4910888671875,
          3211.5869140625
        ],
        "reprojection_error_px": 52.775009267541684,
        "confidence": 0.3263458810461473
      },
      {
        "marker_id": 79,
        "observed_center_px": [
          3228.0,
          3189.25
        ],
        "projected_center_px": [
          2965.67822265625,
          3162.85009765625
        ],
        "reprojection_error_px": 263.6468655465934,
        "confidence": 0.16815716314923923
      },
      {
        "marker_id": 208,
        "observed_center_px": [
          3529.0,
          2744.25
        ],
        "projected_center_px": [
          3542.18994140625,
          2938.6181640625
        ],
        "reprojection_error_px": 194.81518871824966,
        "confidence": 0.4335893972242066
      },
      {
        "marker_id": 214,
        "observed_center_px": [
          3507.5,
          2488.5
        ],
        "projected_center_px": [
          3634.7958984375,
          2312.680419921875
        ],
        "reprojection_error_px": 217.06397789098614,
        "confidence": 0.08739438130723556
      },
      {
        "marker_id": 210,
        "observed_center_px": [
          1204.25,
          2411.0
        ],
        "projected_center_px": [
          1112.6046142578125,
          2289.2822265625
        ],
        "reprojection_error_px": 152.36171795571525,
        "confidence": 0.46907631473671096
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}