appRobotHoming/test/homing/20260616_133151/aruco_marker_poses.csv

1	marker_id	link	set	num_cameras	x_mm	y_mm	z_mm	nx	ny	nz	model_x_mm	model_y_mm	model_z_mm	dist_to_model_mm	delta_z_mm	edge_length_mm
2	47	Board	A0	3	344.07	-286.3	-27.25	-0.00046	0.04835	0.99883	344.23	-286.54	-27.3	0.29	0.049	23.64
3	48	Board	A0	2	689.52	-321.32	-28.55	0.01818	0.02703	0.99947	688.69	-320.72	-27.3	1.616	-1.254	23.78
4	50	Board	A0	2	571.33	211.68	-25.85	0.00822	0.04745	0.99884	573.41	211.86	-27.3	2.541	1.448	23.82
5	54	Board	A0	3	342.21	-330.38	-27.07	-0.0045	-0.03292	0.99945	342.27	-330.59	-27.3	0.316	0.232	23.88
6	55	Board	A0	2	283.85	-262.4	-26.76	-0.01527	0.02358	0.99961	283.72	-262.58	-27.3	0.584	0.539	23.51
7	56	Board	A0	2	497.11	168.6	-25.78	-0.01905	0.05595	0.99825	498.68	168.67	-27.3	2.185	1.521	23.56
8	57	Board	A0	2	601.71	-363.5	-26.19	0.08577	0.00861	0.99628	602.86	-364.05	-27.3	1.694	1.114	24.87
9	62	Board	A0	2	403.89	-175.17	-26.78	0.05288	0.02731	0.99823	404.7	-175.1	-27.3	0.961	0.516	23.82
10	65	Board	A0	2	804.08	-298.54	-28.26	0.00387	0.04132	0.99914	803.39	-297.37	-27.3	1.663	-0.96	23.39
11	68	Board	A0	2	571.76	170.66	-26.3	-0.02368	0.08555	0.99605	573.73	170.64	-27.3	2.214	1.002	23.99
12	71	Board	A0	2	749.94	-284.72	-27.83	-0.01828	-0.03647	0.99917	749.75	-284.01	-27.3	0.907	-0.531	23.66
13	76	Board	A0	2	682.81	166.72	-25.42	-0.05902	0.09056	0.99414	685.21	166.8	-27.3	3.051	1.881	23.55
14	78	Board	A0	2	823.93	-345.77	-28.33	-0.08861	0.04663	0.99497	823.11	-344.38	-27.3	1.915	-1.026	22.6
15	80	Board	A0	2	865.26	-337.13	-28.53	0.04092	0.04275	0.99825	863.59	-335.92	-27.3	2.401	-1.232	23.61
16	87	Board	A0	2	944.69	-246.96	-28.14	0.02302	0.04013	0.99893	943.63	-245.76	-27.3	1.81	-0.837	23.78
17	93	Board	A0	2	932.11	143.72	-23.95	0.06718	0.06443	0.99566	934.88	143.6	-27.3	4.343	3.346	25.06
18	94	Board	A0	2	873.49	174.05	-24.98	0.05325	0.0697	0.99615	875.7	173.65	-27.3	3.229	2.323	24.42
19	96	Board	A0	2	369.02	-186.37	-26.89	-0.04231	0.05761	0.99744	369.77	-186.49	-27.3	0.864	0.406	23.31
20	97	Board	A0	3	304.13	-359.31	-26.85	0.04194	0.01906	0.99894	304.35	-359.67	-27.3	0.616	0.45	23.99
21	99	Board	A0	2	961.74	-323.22	-29.1	0.04681	0.01859	0.99873	959.16	-321.55	-27.3	3.561	-1.797	24.0
22	129	Ellbow		3	393.47	-110.57	207.56	0.00825	0.0056	0.99995						23.63
23	132	Ellbow		3	356.94	-110.62	208.02	0.00671	0.01225	0.9999						24.03
24	143	Arm2		3	371.09	-292.28	195.24	-0.70987	-0.0132	0.70421						24.23
25	144	Arm2		3	359.12	-222.05	171.29	-0.99909	0.03674	0.02153						24.42
26	146	Arm2		3	370.78	-222.38	195.96	-0.66898	-0.00514	0.74326						24.13
27	148	Arm2		3	360.2	-328.6	169.11	-0.99937	0.02225	0.02756						24.15
28	198	Arm1		2	300.76	-14.03	160.54	0.02386	0.50667	0.86181						24.53
29	205	unknown		2	934.74	-97.18	-5.56	-0.00513	0.04577	0.99894						23.15
30	207	unknown		2	933.91	-7.47	-5.45	-0.07244	0.04588	0.99632						21.75
31	229	Arm1		2	303.05	-92.5	205.63	0.01472	0.48131	0.87642						24.21
32	camera_id	x_mm	y_mm	z_mm	dir_x	dir_y	dir_z
33	cam0	-162.87	22.94	405.51	0.8496	-0.39087	-0.35411
34	cam1	-231.98	-599.98	855.31	0.51773	0.43658	-0.73577
35	cam2	1.29	141.6	837.2	0.63268	-0.31236	-0.70863