{
  "versions": {
    "python": "3.10.9",
    "numpy": "1.23.5",
    "scipy": "1.10.0",
    "matplotlib": "3.7.0"
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  "platform": {
    "system": "Darwin",
    "machine": "arm64"
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  "pose_order": [
    "x_m",
    "y_m",
    "z_m",
    "rx_deg",
    "ry_deg",
    "rz_deg"
  ],
  "method": "SLSQP",
  "derivatives": "Numerical derivatives with SciPy's default finite-difference step",
  "off_centre_options": {
    "maxiter": 200,
    "ftol": 1e-10
  },
  "centred_options": {
    "maxiter": 200,
    "ftol": 1e-11
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  "original_start_pose": [
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    2.5,
    5.0,
    8.0,
    0.0
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  "centred_start_pose": [
    0.0,
    0.0,
    1.0,
    -10.130460675306479,
    18.358361199829645,
    -10.516391937634785
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  "board_variable_scales": [
    0.5,
    0.5,
    1.0,
    30.0,
    30.0,
    30.0
  ],
  "camera_tolerance_scales_m_rad": [
    0.005,
    0.005,
    0.005,
    0.0017453292519943296,
    0.0017453292519943296,
    0.0017453292519943296
  ],
  "feasibility_tolerance": 1e-07,
  "symmetry_rtol": 1e-10,
  "symmetry_atol": 1e-12,
  "off_centre_optimizer_success": true,
  "off_centre_optimizer_status": "Optimization terminated successfully",
  "centred_optimizer_success": true,
  "centred_optimizer_status": "Optimization terminated successfully",
  "comparison": [
    {
      "placement": "Centred",
      "x_m": 0.0,
      "y_m": 0.0,
      "z_m": 1.0000000000000002,
      "rx_deg": -0.0005162737586585607,
      "ry_deg": 49.57275773592384,
      "rz_deg": -10.516265718725377,
      "score": 0.48927244186224605,
      "predicted_translation_rms_mm": 1.0744774227014922,
      "predicted_rotation_rms_deg": 0.06656518403688497,
      "mean_sigma_px": 0.3927380824089228,
      "max_viewing_angle_deg": 59.01540581597771,
      "minimum_constraint": 0.1716298128344591,
      "optimizer_iterations": 16
    },
    {
      "placement": "Off-centre",
      "x_m": -0.5409170251210668,
      "y_m": 0.33603969326465744,
      "z_m": 1.0,
      "rx_deg": -10.130460675306479,
      "ry_deg": 18.358361199829645,
      "rz_deg": -10.516391937634785,
      "score": 0.42765855240471806,
      "predicted_translation_rms_mm": 1.2356098390373493,
      "predicted_rotation_rms_deg": 0.06054661719961586,
      "mean_sigma_px": 0.37974173619945345,
      "max_viewing_angle_deg": 56.90967544684854,
      "minimum_constraint": -6.892264536872971e-14,
      "optimizer_iterations": 35
    }
  ],
  "off_centre_score_reduction_percent": 12.592961341336961,
  "mirror_checks": [
    {
      "placement": "Original",
      "x_m": -0.5409170251210668,
      "y_m": 0.33603969326465744,
      "z_m": 1.0,
      "rx_deg": -10.130460675306479,
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      "score": 0.42765855240471806,
      "predicted_translation_rms_mm": 1.2356098390373493,
      "predicted_rotation_rms_deg": 0.06054661719961586,
      "mean_sigma_px": 0.37974173619945345,
      "max_viewing_angle_deg": 56.90967544684854,
      "minimum_constraint": -6.892264536872971e-14,
      "score_difference_from_original": 0.0,
      "feasible": true,
      "symmetry_check_passed": true
    },
    {
      "placement": "Reflect x",
      "x_m": 0.5409170251210668,
      "y_m": 0.33603969326465744,
      "z_m": 1.0,
      "rx_deg": -10.130460675306479,
      "ry_deg": -18.358361199829645,
      "rz_deg": 10.516391937634785,
      "score": 0.4276585524047178,
      "predicted_translation_rms_mm": 1.235609839037349,
      "predicted_rotation_rms_deg": 0.060546617199615835,
      "mean_sigma_px": 0.3797417361994535,
      "max_viewing_angle_deg": 56.90967544684854,
      "minimum_constraint": -6.892264536872971e-14,
      "score_difference_from_original": -2.7755575615628914e-16,
      "feasible": true,
      "symmetry_check_passed": true
    },
    {
      "placement": "Reflect y",
      "x_m": -0.5409170251210668,
      "y_m": -0.33603969326465744,
      "z_m": 1.0,
      "rx_deg": 10.130460675306479,
      "ry_deg": 18.358361199829645,
      "rz_deg": 10.516391937634785,
      "score": 0.4276585524047177,
      "predicted_translation_rms_mm": 1.2356098390373491,
      "predicted_rotation_rms_deg": 0.06054661719961582,
      "mean_sigma_px": 0.3797417361994535,
      "max_viewing_angle_deg": 56.90967544684854,
      "minimum_constraint": -6.892264536872971e-14,
      "score_difference_from_original": -3.885780586188048e-16,
      "feasible": true,
      "symmetry_check_passed": true
    },
    {
      "placement": "Reflect x and y",
      "x_m": 0.5409170251210668,
      "y_m": -0.33603969326465744,
      "z_m": 1.0,
      "rx_deg": 10.130460675306479,
      "ry_deg": -18.358361199829645,
      "rz_deg": -10.516391937634785,
      "score": 0.4276585524047182,
      "predicted_translation_rms_mm": 1.23560983903735,
      "predicted_rotation_rms_deg": 0.060546617199615876,
      "mean_sigma_px": 0.3797417361994535,
      "max_viewing_angle_deg": 56.90967544684854,
      "minimum_constraint": -6.892264536872971e-14,
      "score_difference_from_original": 1.1102230246251565e-16,
      "feasible": true,
      "symmetry_check_passed": true
    }
  ],
  "validation": "Predicted covariance only; these diagnostics use no random data or Monte Carlo selection"
}