appRobotRender/data/evaluations/Scene9/render_d_camera_pose.json

{
  "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": []
  }
}