{
  "environment": {
    "python": "3.12.3",
    "opencv": "4.6.0",
    "numpy": "1.26.4"
  },
  "settings": {
    "seed": 20261001,
    "points": 48,
    "outliers": 12,
    "noise_sigma_px": 0.5,
    "image_size_px": [
      1280,
      720
    ],
    "K_true": [
      [
        800.0,
        0.0,
        640.0
      ],
      [
        0.0,
        800.0,
        360.0
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ],
    "rvec_true": [
      0.15,
      -0.1,
      0.05
    ],
    "tvec_true_m": [
      0.2,
      -0.1,
      5.0
    ],
    "wrong_focal_scale": 1.15,
    "distortion": "none",
    "ransac_threshold_px": 3.0,
    "ransac_iterations": 200,
    "confidence": 0.999
  },
  "cases": {
    "clean_ransac": {
      "status": "ok",
      "fit_points": 48,
      "fit_rmse_px": 0.6599700738994765,
      "known_good_rmse_px": 0.6599700738994765,
      "all_rmse_px": 0.6599700738994765,
      "rotation_error_deg": 0.06829097117651152,
      "camera_center_error_m": 0.003603088623894355,
      "min_depth_m": 4.395048117831351,
      "camera_center_world_m": [
        -0.7112096110648289,
        -0.6195910974862247,
        -4.915855242408847
      ],
      "fit_indices": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15,
        16,
        17,
        18,
        19,
        20,
        21,
        22,
        23,
        24,
        25,
        26,
        27,
        28,
        29,
        30,
        31,
        32,
        33,
        34,
        35,
        36,
        37,
        38,
        39,
        40,
        41,
        42,
        43,
        44,
        45,
        46,
        47
      ],
      "residual_px": [
        0.38163646728150796,
        0.7877118748186324,
        0.628491379285846,
        0.6861247665720271,
        0.522886587441039,
        0.6650103261078095,
        0.7029329717907071,
        0.29644229536034766,
        0.9887296264383802,
        0.27538578224371923,
        0.4747410926595624,
        0.42941953235142377,
        0.669650133673068,
        0.2865839644954341,
        0.2562805152344714,
        0.9224776339522086,
        0.6962097151914431,
        0.6229205788942552,
        1.4068655173690143,
        0.39052568197985615,
        0.6548171193825953,
        0.10600740453193756,
        0.8344610521601814,
        0.7217442420262304,
        0.9664908450643407,
        0.2229011409686455,
        0.46566064901950943,
        0.8522585188692836,
        0.4718659377956206,
        0.3391810866213818,
        0.30891540849690313,
        1.3030818611374089,
        0.7735803352435002,
        0.3368071151510278,
        0.21090035175656968,
        0.44228986531856357,
        0.9163125022435066,
        1.0499668428539422,
        0.44712535859821045,
        0.5721056654156684,
        0.32473714655997943,
        0.39022768802496494,
        0.28317590612096327,
        0.9111528860626686,
        0.1583035984055826,
        0.6791508150505369,
        0.22077421653735443,
        1.1057222458918219
      ]
    },
    "outliers_plain": {
      "status": "ok",
      "fit_points": 48,
      "fit_rmse_px": 185.82633955118692,
      "known_good_rmse_px": 38.98340076678093,
      "all_rmse_px": 185.82633955118692,
      "rotation_error_deg": 27.426299722685695,
      "camera_center_error_m": 1.952210159962395,
      "min_depth_m": 4.076421876252832,
      "camera_center_world_m": [
        0.6641694404507292,
        0.7355216092077836,
        -4.638611975621892
      ],
      "fit_indices": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15,
        16,
        17,
        18,
        19,
        20,
        21,
        22,
        23,
        24,
        25,
        26,
        27,
        28,
        29,
        30,
        31,
        32,
        33,
        34,
        35,
        36,
        37,
        38,
        39,
        40,
        41,
        42,
        43,
        44,
        45,
        46,
        47
      ],
      "residual_px": [
        34.654513698041235,
        32.90834528252622,
        37.634092019959546,
        414.94399575081906,
        53.251642080557104,
        41.61244782520729,
        59.16999264135727,
        5.0130311592708265,
        10.061142753180787,
        175.58015556575822,
        582.254063235552,
        97.22991537122213,
        46.20888044468917,
        86.01293818254763,
        28.66991967884948,
        213.63553108094771,
        491.9840970101352,
        26.143724420181673,
        21.383587964940112,
        542.8730109150227,
        45.49338910620077,
        22.890056089509343,
        32.56621078437252,
        54.88657104848439,
        23.079987409867485,
        423.71897714744387,
        55.836259877570896,
        48.20114349414343,
        77.68209109795801,
        321.99567089582115,
        20.292847207993145,
        40.022421710369535,
        16.24283166802322,
        261.9082538316821,
        36.689906532236414,
        46.11988489336865,
        15.210272912713416,
        5.212518089203904,
        29.453835139049584,
        9.222074057592591,
        55.67967116688352,
        8.598540406804318,
        6.8772756500595715,
        38.36710655192547,
        35.16154079621992,
        34.38761228144404,
        26.54209615736536,
        339.0708341055684
      ]
    },
    "outliers_ransac": {
      "status": "ok",
      "fit_points": 36,
      "fit_rmse_px": 0.6734115092085202,
      "known_good_rmse_px": 0.6734115092085202,
      "all_rmse_px": 189.33365685744187,
      "rotation_error_deg": 0.10294025130124174,
      "camera_center_error_m": 0.007680522494807264,
      "min_depth_m": 4.395365753439023,
      "camera_center_world_m": [
        -0.7071790775159956,
        -0.6161248061296133,
        -4.916494012652101
      ],
      "fit_indices": [
        0,
        1,
        2,
        4,
        5,
        6,
        7,
        8,
        13,
        14,
        17,
        18,
        20,
        21,
        22,
        23,
        24,
        26,
        27,
        28,
        30,
        31,
        32,
        34,
        35,
        36,
        37,
        38,
        39,
        40,
        41,
        42,
        43,
        44,
        45,
        46
      ],
      "residual_px": [
        0.35213133760056703,
        0.7501943266686876,
        0.5858601272893241,
        437.01326333875005,
        0.5247385225773726,
        0.7511044582737637,
        0.7253583481502279,
        0.3306865085945934,
        1.0580962008859158,
        198.117065926185,
        600.2222802928452,
        92.03973474901504,
        12.152597341369326,
        0.28948006384077274,
        0.19915340936623357,
        253.72792855237958,
        529.9515425569556,
        0.6628374335827241,
        1.372409896785709,
        542.0296229295723,
        0.6142556616505719,
        0.10830503642078902,
        0.8159745297458297,
        0.6571199205276707,
        0.9249939706798858,
        395.76589216161034,
        0.5046373888389913,
        0.7998644481934041,
        0.4616468402981981,
        299.8005669942514,
        0.29520970089331583,
        1.2183043528292967,
        0.8008050203432602,
        284.49071708268247,
        0.1991179811888784,
        0.4687844907240318,
        0.946282530669502,
        1.0621047357078095,
        0.48053299575863634,
        0.621807570008027,
        0.37795833371747056,
        0.42167232492686657,
        0.28475963462538373,
        0.8802446721163205,
        0.19677257208037677,
        0.6213490353949065,
        0.30013586882956744,
        393.7836198072601
      ]
    },
    "wrong_focal_ransac": {
      "status": "ok",
      "fit_points": 48,
      "fit_rmse_px": 1.2419149220304413,
      "known_good_rmse_px": 1.2419149220304413,
      "all_rmse_px": 1.2419149220304413,
      "rotation_error_deg": 0.28356359195480896,
      "camera_center_error_m": 0.74557854869099,
      "min_depth_m": 5.139063708716399,
      "camera_center_world_m": [
        -0.8122884522024467,
        -0.7172441434781827,
        -5.647544515647309
      ],
      "fit_indices": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15,
        16,
        17,
        18,
        19,
        20,
        21,
        22,
        23,
        24,
        25,
        26,
        27,
        28,
        29,
        30,
        31,
        32,
        33,
        34,
        35,
        36,
        37,
        38,
        39,
        40,
        41,
        42,
        43,
        44,
        45,
        46,
        47
      ],
      "residual_px": [
        1.0419017732807143,
        0.5934649931967221,
        1.6501797000123197,
        0.8146335104917164,
        2.2440788851673807,
        0.17502009869630336,
        1.796629928386257,
        0.433357251668112,
        1.0074620633727596,
        1.4538209694398538,
        0.3389175251012687,
        1.522486959188454,
        1.6633023803439484,
        2.475927846309433,
        1.1944330373318508,
        1.1578466703663257,
        0.5764659229357272,
        0.9502674893500889,
        1.403870680171846,
        2.6887969600836965,
        0.40366314482488214,
        0.29964174201819666,
        0.7605463104038201,
        0.42442345419867955,
        1.4959603701511381,
        0.4069382743548466,
        0.645550078507951,
        1.1979101256955753,
        0.9325823494670412,
        0.3806623502304775,
        0.9781893535162693,
        2.4521975071506543,
        0.7905012953093005,
        1.4494942949252796,
        0.3270027023903933,
        1.9996721899930645,
        0.9279881871372901,
        0.6776403590799035,
        0.3901413378571294,
        1.1648737058548597,
        0.8753926934687362,
        1.094407456657928,
        0.9768853076123598,
        1.4258738725695832,
        1.5145946918052606,
        0.3813318906823758,
        1.4979987282841214,
        0.7195775221611677
      ]
    }
  }
}