Files
appRobotHoming/data/homing/20260625_175916/aruco_marker_poses.json
2026-06-25 20:36:09 +02:00

2542 lines
55 KiB
JSON

{
"schema_version": "1.1",
"stage": "corner_marker_poses",
"created_utc": "2026-06-25T17:59:28Z",
"summary": {
"num_cameras": 3,
"num_markers": 55
},
"cameras": [
{
"camera_id": "cam0",
"position_m": [
0.3350673366292186,
-0.8853000048719084,
0.4696406655318255
],
"position_mm": [
335.06733662921863,
-885.3000048719084,
469.6406655318255
],
"direction": [
-0.06532628834247589,
0.891889214515686,
-0.44751107692718506
]
},
{
"camera_id": "cam1",
"position_m": [
0.2971478978431521,
-0.46272153074816635,
0.7806502133866371
],
"position_mm": [
297.1478978431521,
-462.72153074816634,
780.6502133866371
],
"direction": [
0.09464621543884277,
0.4330478608608246,
-0.8963881134986877
]
},
{
"camera_id": "cam2",
"position_m": [
0.714940855921558,
-0.6662914067891732,
0.7272217771679246
],
"position_mm": [
714.940855921558,
-666.2914067891732,
727.2217771679245
],
"direction": [
-0.42920777201652527,
0.5933837294578552,
-0.6809379458427429
]
}
],
"markers": [
{
"marker_id": 0,
"link": "unknown",
"set": "",
"position_m": [
0.5057898796706701,
-0.10006362260102525,
-0.008167728455989308
],
"position_mm": [
505.78987967067013,
-100.06362260102524,
-8.167728455989307
],
"normal": [
0.006538657460433341,
-0.014782511308232911,
0.9998693531247156
],
"corners_m": [
[
0.4937963941838161,
-0.08838286913595847,
-0.007888240463695363
],
[
0.5178935461778308,
-0.08828425714089688,
-0.008102188079211318
],
[
0.5176264902988851,
-0.11130712697945612,
-0.008381516749696494
],
[
0.4938430880221489,
-0.11228023714778951,
-0.00829896853135406
]
],
"num_cameras": 3,
"edge_length_mm": 23.707201054842265,
"weight": 0.5077
},
{
"marker_id": 46,
"link": "Board",
"set": "A0",
"position_m": [
0.5379009001567183,
0.18551958066613233,
-0.02750469551597743
],
"position_mm": [
537.9009001567183,
185.51958066613233,
-27.50469551597743
],
"normal": [
0.006101716399971257,
0.0011731351320244388,
0.9999806962191502
],
"corners_m": [
[
0.5257212871160774,
0.17315528379776637,
-0.026988598212300482
],
[
0.5258674118732634,
0.19709709515926696,
-0.027889610527703272
],
[
0.5496191550127602,
0.19732394480847895,
-0.027124454220501092
],
[
0.550395746624772,
0.17450199889901707,
-0.028016119103404877
]
],
"num_cameras": 2,
"edge_length_mm": 23.827361704817356,
"weight": 0.3399
},
{
"marker_id": 47,
"link": "Board",
"set": "A0",
"position_m": [
0.34333765455548276,
-0.2861847745585625,
-0.027523773050035134
],
"position_mm": [
343.33765455548274,
-286.1847745585625,
-27.523773050035135
],
"normal": [
-0.008260443643305346,
0.024316077811804785,
0.9996701923287831
],
"corners_m": [
[
0.33096858069753254,
-0.29778384763343974,
-0.027306098838472504
],
[
0.331460872243561,
-0.2739524058108337,
-0.027957761540952194
],
[
0.35552739237965486,
-0.27447844892983086,
-0.027669804361347965
],
[
0.3553937729011827,
-0.2985243958601457,
-0.027161427459367875
]
],
"num_cameras": 3,
"edge_length_mm": 24.101989670254692,
"weight": 0.7524
},
{
"marker_id": 50,
"link": "Board",
"set": "A0",
"position_m": [
0.5746435943051476,
0.21177195734214369,
-0.027335556237064865
],
"position_mm": [
574.6435943051475,
211.77195734214368,
-27.335556237064864
],
"normal": [
0.0024176322266523474,
0.01089775308185015,
0.9999376950751401
],
"corners_m": [
[
0.5625653740036941,
0.19911226444547786,
-0.02735276683054869
],
[
0.5629221272645557,
0.22437217125348294,
-0.027255488055205838
],
[
0.5864324645601467,
0.22347370346972611,
-0.027695882413607625
],
[
0.5866544113921939,
0.2001296901998878,
-0.027038087648897306
]
],
"num_cameras": 3,
"edge_length_mm": 24.065283654612518,
"weight": 0.2539
},
{
"marker_id": 51,
"link": "Board",
"set": "A0",
"position_m": [
0.16689164567684253,
-0.17105866251322321,
-0.02748813119733462
],
"position_mm": [
166.89164567684253,
-171.05866251322323,
-27.48813119733462
],
"normal": [
-0.041415383955279446,
0.0008144576553327232,
0.9991416829612128
],
"corners_m": [
[
0.1548071817811258,
-0.18289274051989246,
-0.027773429994292078
],
[
0.15476279414979763,
-0.15836469121945954,
-0.02820079392697982
],
[
0.17933055890849164,
-0.15961753820620186,
-0.026775804272438617
],
[
0.1786660478679551,
-0.18335968010733908,
-0.027202496595627967
]
],
"num_cameras": 3,
"edge_length_mm": 24.199568727437796,
"weight": 0.5622
},
{
"marker_id": 53,
"link": "Board",
"set": "A0",
"position_m": [
0.48715510381519117,
0.2129277740146936,
-0.027575572265094196
],
"position_mm": [
487.1551038151912,
212.9277740146936,
-27.575572265094195
],
"normal": [
0.06676844170146369,
0.021707804164587396,
0.9975323285142744
],
"corners_m": [
[
0.47497809597504886,
0.19997744532281148,
-0.026407226393085105
],
[
0.47523543707981547,
0.22391964210379825,
-0.02709115702660609
],
[
0.49889784152303174,
0.22553285887565078,
-0.028559697103418404
],
[
0.49950904068286867,
0.20228114975651384,
-0.028244208537267185
]
],
"num_cameras": 3,
"edge_length_mm": 23.921310478140267,
"weight": 0.2372
},
{
"marker_id": 54,
"link": "Board",
"set": "A0",
"position_m": [
0.34130556402100765,
-0.3301795189505623,
-0.02754948849732214
],
"position_mm": [
341.3055640210076,
-330.1795189505623,
-27.549488497322137
],
"normal": [
-0.010139074011023666,
0.012618112746153654,
0.9998689826216854
],
"corners_m": [
[
0.3288990300052319,
-0.342072260912877,
-0.027515157257027786
],
[
0.329324191161338,
-0.3176388595973488,
-0.02783943150776133
],
[
0.353550999457845,
-0.3187030231932258,
-0.027559597815102258
],
[
0.35344803545961556,
-0.34230393209879784,
-0.02728376740939718
]
],
"num_cameras": 3,
"edge_length_mm": 24.211242272668937,
"weight": 0.5842
},
{
"marker_id": 55,
"link": "Arm1",
"set": "A0",
"position_m": [
0.2827088580690346,
-0.26189953811063915,
-0.02662758878353472
],
"position_mm": [
282.7088580690346,
-261.8995381106391,
-26.62758878353472
],
"normal": [
-0.03413433052970439,
0.006380095792955842,
0.9993968890570761
],
"corners_m": [
[
0.2704977760901167,
-0.27386512965161175,
-0.027464955607691518
],
[
0.2705738434591523,
-0.24954034072692882,
-0.02661899418942674
],
[
0.2948251480035268,
-0.249918650698961,
-0.026791406166506448
],
[
0.29493866472334257,
-0.27427403136505507,
-0.025634999170514178
]
],
"num_cameras": 3,
"edge_length_mm": 24.37256874416553,
"weight": 0.6963
},
{
"marker_id": 56,
"link": "Arm1",
"set": "A0",
"position_m": [
0.500024396873786,
0.16942021436793403,
-0.02787920239530968
],
"position_mm": [
500.024396873786,
169.42021436793402,
-27.87920239530968
],
"normal": [
-0.013356790870194346,
0.002159988134932123,
0.9999084611047688
],
"corners_m": [
[
0.48813054390630745,
0.15783108088868705,
-0.02842387066840732
],
[
0.4876626246267272,
0.1804591744034191,
-0.027664744607119582
],
[
0.5121487567125289,
0.18148582713353736,
-0.028130402930385903
],
[
0.5121556622495804,
0.1579047750460926,
-0.027297791375325915
]
],
"num_cameras": 2,
"edge_length_mm": 23.701270415020787,
"weight": 0.3445
},
{
"marker_id": 58,
"link": "Board",
"set": "A0",
"position_m": [
0.04869069374635292,
-0.21676197552333598,
-0.027870862286625678
],
"position_mm": [
48.69069374635292,
-216.761975523336,
-27.870862286625677
],
"normal": [
-0.019299818758378377,
0.0018754659144916144,
0.9998119821363902
],
"corners_m": [
[
0.03636770545413085,
-0.2285342216918265,
-0.028579229476598512
],
[
0.03656830354708621,
-0.2043815764316403,
-0.027624728226982132
],
[
0.060764959763028946,
-0.20475297197868916,
-0.028154292708688224
],
[
0.06106180622116568,
-0.22937913199118798,
-0.027125198734233837
]
],
"num_cameras": 3,
"edge_length_mm": 24.444592008306685,
"weight": 0.4039
},
{
"marker_id": 60,
"link": "Board",
"set": "A0",
"position_m": [
0.43569263566727046,
0.28610617488465195,
-0.029341277130457828
],
"position_mm": [
435.69263566727045,
286.106174884652,
-29.34127713045783
],
"normal": [
-0.04418977162127982,
0.069268366503198,
0.9966188626982924
],
"corners_m": [
[
0.42346596403989234,
0.27320816392028296,
-0.028582351242919506
],
[
0.4239511837789218,
0.3006268544943562,
-0.03127670329777442
],
[
0.44782244420794004,
0.2970265620516715,
-0.029086220073392673
],
[
0.4475309506423274,
0.273563119072297,
-0.0284198339077447
]
],
"num_cameras": 2,
"edge_length_mm": 24.834575789586186,
"weight": 0.2812
},
{
"marker_id": 62,
"link": "Board",
"set": "A0",
"position_m": [
0.40421817930765414,
-0.1747468403084439,
-0.027140770079532955
],
"position_mm": [
404.2181793076541,
-174.7468403084439,
-27.140770079532956
],
"normal": [
0.008930667361015561,
-0.008808400354487158,
0.9999213245369267
],
"corners_m": [
[
0.3918835553115411,
-0.1867724251187778,
-0.02705538986817169
],
[
0.3923719120679265,
-0.1625809701197354,
-0.027011549095877937
],
[
0.4161777948597071,
-0.16318029127318381,
-0.027058684864997226
],
[
0.41643945499144175,
-0.18645367472207855,
-0.02743745648908497
]
],
"num_cameras": 3,
"edge_length_mm": 23.962193043871462,
"weight": 0.5945
},
{
"marker_id": 64,
"link": "Board",
"set": "A0",
"position_m": [
-0.022330434175829292,
-0.18715090473517298,
-0.02655609016297845
],
"position_mm": [
-22.330434175829293,
-187.150904735173,
-26.55609016297845
],
"normal": [
0.029774558312894123,
0.0006194969851146536,
0.9995564475810047
],
"corners_m": [
[
-0.03396049001303908,
-0.19948040388596353,
-0.0260752625292054
],
[
-0.033849313260349026,
-0.17484233067537452,
-0.026347470162448476
],
[
-0.010705556181872163,
-0.1753002237364339,
-0.026777710903298765
],
[
-0.010806377248056906,
-0.19898066064292008,
-0.027023917056961166
]
],
"num_cameras": 2,
"edge_length_mm": 23.66324241487266,
"weight": 0.3764
},
{
"marker_id": 66,
"link": "Board",
"set": "A0",
"position_m": [
0.20796881421160063,
-0.3627806331311557,
-0.02865133737968076
],
"position_mm": [
207.96881421160063,
-362.7806331311557,
-28.65133737968076
],
"normal": [
-0.07999609547449128,
0.0928028755726249,
0.9924657429827429
],
"corners_m": [
[
0.19612941730970068,
-0.37476624250085777,
-0.02881181733517691
],
[
0.19528572101865735,
-0.3499469290741836,
-0.03055753382227886
],
[
0.22026968489522808,
-0.35009910983244047,
-0.029143017777778887
],
[
0.22019043362281648,
-0.3763102511171409,
-0.026092980583488388
]
],
"num_cameras": 2,
"edge_length_mm": 25.142701961991044,
"weight": 0.3985
},
{
"marker_id": 67,
"link": "Board",
"set": "A0",
"position_m": [
0.5246120249744499,
0.2680240547695427,
-0.028510347976835486
],
"position_mm": [
524.6120249744499,
268.0240547695427,
-28.510347976835487
],
"normal": [
-0.016297552032093206,
-0.0012284590088582628,
0.99986643142283
],
"corners_m": [
[
0.5129066771172665,
0.2563050651128315,
-0.028922599414757253
],
[
0.5125805821365621,
0.2799063159452541,
-0.0284842693435033
],
[
0.536296368414212,
0.27958692818431635,
-0.028516071472354233
],
[
0.5366644722297588,
0.25629790983576883,
-0.02811845167672717
]
],
"num_cameras": 2,
"edge_length_mm": 23.598063465909277,
"weight": 0.2927
},
{
"marker_id": 68,
"link": "Board",
"set": "A0",
"position_m": [
0.5750537467702019,
0.1701496999619704,
-0.02714373385931192
],
"position_mm": [
575.0537467702019,
170.1496999619704,
-27.14373385931192
],
"normal": [
0.017219314958833616,
0.03204544520859581,
0.9993380732433501
],
"corners_m": [
[
0.5628795084435165,
0.15744641827893827,
-0.02670737964374933
],
[
0.5630314387154883,
0.18093021636858606,
-0.027101945306499852
],
[
0.5872548998622685,
0.18326684261167966,
-0.027948644064721438
],
[
0.5870491400595346,
0.1589553225886776,
-0.02681696642227706
]
],
"num_cameras": 3,
"edge_length_mm": 24.098468677311185,
"weight": 0.2699
},
{
"marker_id": 69,
"link": "Board",
"set": "A0",
"position_m": [
0.00691171004425156,
-0.2809891099151464,
-0.02722995911760562
],
"position_mm": [
6.91171004425156,
-280.9891099151464,
-27.22995911760562
],
"normal": [
-0.0008922994789193346,
0.031120805146204744,
0.9995152321444092
],
"corners_m": [
[
-0.00479867624001892,
-0.2934623018998076,
-0.02725534099721189
],
[
-0.004942941890814497,
-0.2692212508332243,
-0.02718595720017222
],
[
0.018102169843813517,
-0.2682477486200579,
-0.028027413138832467
],
[
0.01928628846402614,
-0.29302513830749605,
-0.0264511251342059
]
],
"num_cameras": 2,
"edge_length_mm": 24.070160242597865,
"weight": 0.4846
},
{
"marker_id": 70,
"link": "Board",
"set": "A0",
"position_m": [
0.6035600155235546,
0.3005676281578816,
-0.028343314388692798
],
"position_mm": [
603.5600155235546,
300.5676281578816,
-28.343314388692797
],
"normal": [
-0.06715166315405746,
0.043265227033953975,
0.9968042808221403
],
"corners_m": [
[
0.5917454268192155,
0.288783206132043,
-0.028591597197474505
],
[
0.591472963356765,
0.3129164593535238,
-0.02973012088287895
],
[
0.615238182519826,
0.31219735311195274,
-0.02802432546370642
],
[
0.615783489398412,
0.28837349403400675,
-0.027027214010711318
]
],
"num_cameras": 2,
"edge_length_mm": 23.98554667839739,
"weight": 0.2691
},
{
"marker_id": 73,
"link": "Board",
"set": "A0",
"position_m": [
0.22200843020084798,
0.33710330353962437,
-0.029904556917160468
],
"position_mm": [
222.00843020084798,
337.1033035396244,
-29.904556917160466
],
"normal": [
-0.043701850879775406,
0.11255686025897471,
0.9926837872345471
],
"corners_m": [
[
0.20992249163063356,
0.325732727662749,
-0.03007067819310336
],
[
0.20980677385749943,
0.34991764719222085,
-0.030935254146158192
],
[
0.23360639197189054,
0.3507194763023412,
-0.031739978294341
],
[
0.23469806334336846,
0.3220433630011865,
-0.02687231703503933
]
],
"num_cameras": 2,
"edge_length_mm": 25.5965694905624,
"weight": 0.1477
},
{
"marker_id": 75,
"link": "Board",
"set": "A0",
"position_m": [
-0.027074599472136106,
0.19916488636021012,
-0.02877591846507313
],
"position_mm": [
-27.074599472136107,
199.16488636021012,
-28.77591846507313
],
"normal": [
-0.060269048988742635,
0.14192178920825413,
0.9880414199222219
],
"corners_m": [
[
-0.038909158064018304,
0.1866302269096352,
-0.027634753703519806
],
[
-0.04053684989257057,
0.21409467918510994,
-0.03180576995266629
],
[
-0.015567675026538825,
0.21179674536791643,
-0.029824508346680097
],
[
-0.013284714905416722,
0.1841378939781789,
-0.025838641857426316
]
],
"num_cameras": 2,
"edge_length_mm": 26.70636900033261,
"weight": 0.1438
},
{
"marker_id": 76,
"link": "Board",
"set": "A0",
"position_m": [
0.686168216982405,
0.16467989272358155,
-0.026465763850839603
],
"position_mm": [
686.168216982405,
164.67989272358156,
-26.465763850839604
],
"normal": [
-0.083228950366003,
0.009981962855378668,
0.9964804575296635
],
"corners_m": [
[
0.6741234343707012,
0.15340054085121616,
-0.02742396410885278
],
[
0.6744428187289844,
0.17736376984110447,
-0.027505080609578625
],
[
0.6978840379394718,
0.17579154609631423,
-0.025666656601862375
],
[
0.6982225768904631,
0.15216371410569143,
-0.025267354083064637
]
],
"num_cameras": 2,
"edge_length_mm": 23.84796706085212,
"weight": 0.3711
},
{
"marker_id": 77,
"link": "Arm1",
"set": "A0",
"position_m": [
0.017533041646108926,
0.19485981900302657,
-0.028252701964302823
],
"position_mm": [
17.533041646108927,
194.85981900302656,
-28.252701964302823
],
"normal": [
-0.023326481272283064,
0.14875638477723804,
0.9885987119450744
],
"corners_m": [
[
0.0057795122646528705,
0.1819144985879058,
-0.027210072698620608
],
[
0.005006470128538473,
0.2081839163321546,
-0.02991436817993723
],
[
0.029046817158157993,
0.2089680286491458,
-0.030683832983121048
],
[
0.030299367033086364,
0.1803728324429001,
-0.02520253399553241
]
],
"num_cameras": 2,
"edge_length_mm": 26.069470655147647,
"weight": 0.338
},
{
"marker_id": 79,
"link": "Board",
"set": "A0",
"position_m": [
0.3115317050756261,
-0.1579553560163563,
-0.026950013661941326
],
"position_mm": [
311.5317050756261,
-157.9553560163563,
-26.950013661941327
],
"normal": [
0.029187814313650112,
-0.011632113912710575,
0.9995062608215687
],
"corners_m": [
[
0.29935733696111727,
-0.16950655538155907,
-0.027204084287352263
],
[
0.29925299722852533,
-0.14708134218555233,
-0.025992880105390095
],
[
0.32376221642285546,
-0.14529758431728504,
-0.02758981376926272
],
[
0.32375426969000654,
-0.16993594218102875,
-0.02701327648576023
]
],
"num_cameras": 2,
"edge_length_mm": 24.032644633408122,
"weight": 0.4183
},
{
"marker_id": 82,
"link": "Board",
"set": "A0",
"position_m": [
0.21940163374697527,
0.30083771316769004,
-0.030043099626010206
],
"position_mm": [
219.40163374697528,
300.83771316769,
-30.043099626010207
],
"normal": [
0.0036494884939472097,
0.10199852853466704,
0.9947778553076537
],
"corners_m": [
[
0.20772400033219268,
0.28789960708143014,
-0.02898448157635884
],
[
0.2071918090503518,
0.31382685071797095,
-0.031015946051088008
],
[
0.23093082071159765,
0.3142837624574587,
-0.03176507411459503
],
[
0.231759904893759,
0.2873406324139003,
-0.028406896761998958
]
],
"num_cameras": 2,
"edge_length_mm": 25.245243690127953,
"weight": 0.2808
},
{
"marker_id": 85,
"link": "Board",
"set": "A0",
"position_m": [
0.5040463958504396,
-0.31336231476133536,
-0.027373823799206286
],
"position_mm": [
504.04639585043964,
-313.36231476133537,
-27.373823799206285
],
"normal": [
-0.0014665589974376715,
-0.03538113682867272,
0.9993728155005108
],
"corners_m": [
[
0.4918726464590908,
-0.3252295468806825,
-0.027754709813985857
],
[
0.4919156531520482,
-0.30133223978101514,
-0.027022502091001807
],
[
0.5162917545266495,
-0.3015127745463712,
-0.026879496240494488
],
[
0.51610552926397,
-0.32537469783727235,
-0.027838587051343
]
],
"num_cameras": 3,
"edge_length_mm": 24.100282165683154,
"weight": 0.6116
},
{
"marker_id": 88,
"link": "Board",
"set": "A0",
"position_m": [
0.7672044800845393,
0.31341295874776876,
-0.025607654672699452
],
"position_mm": [
767.2044800845393,
313.41295874776876,
-25.607654672699454
],
"normal": [
0.05089179903487284,
-0.0006574170571220783,
0.998703956432439
],
"corners_m": [
[
0.7553774296523968,
0.3007474673533542,
-0.024929893432296468
],
[
0.7549248281758681,
0.3246704379375756,
-0.02505757010946504
],
[
0.7791016062658052,
0.32531091552577696,
-0.026117275271206494
],
[
0.7794140562440872,
0.30292301417436807,
-0.026325879877829812
]
],
"num_cameras": 2,
"edge_length_mm": 23.675582356861177,
"weight": 0.276
},
{
"marker_id": 90,
"link": "Board",
"set": "A0",
"position_m": [
0.6448974505756251,
0.31586422632017813,
-0.027757926165580843
],
"position_mm": [
644.897450575625,
315.86422632017815,
-27.757926165580844
],
"normal": [
-0.004760316940534059,
-0.03483117739756403,
0.9993818731914869
],
"corners_m": [
[
0.6330387136280773,
0.30449153979983246,
-0.02837750544304187
],
[
0.6325546104105302,
0.32737407080852227,
-0.02725376997307296
],
[
0.6571222817642531,
0.3274090540736802,
-0.02745682207338329
],
[
0.6568741964996401,
0.3041822405986776,
-0.027943607172825256
]
],
"num_cameras": 2,
"edge_length_mm": 23.639608320441152,
"weight": 0.2878
},
{
"marker_id": 91,
"link": "Board",
"set": "A0",
"position_m": [
0.7250587640676273,
0.32678855113021327,
-0.02689663640033165
],
"position_mm": [
725.0587640676273,
326.78855113021325,
-26.89663640033165
],
"normal": [
-0.04318027586624513,
-0.006771542643317142,
0.999044348358142
],
"corners_m": [
[
0.7132299108966134,
0.315308232564805,
-0.027699234186866137
],
[
0.7131780042897148,
0.33877257811508166,
-0.02711304641017173
],
[
0.7367726033150213,
0.33858102618361297,
-0.026520818559968445
],
[
0.7370545377691594,
0.3144923676573534,
-0.026253446444320285
]
],
"num_cameras": 2,
"edge_length_mm": 23.76217961104756,
"weight": 0.2868
},
{
"marker_id": 92,
"link": "Board",
"set": "A0",
"position_m": [
0.6449679140075476,
-0.186594968479296,
-0.026033158149770537
],
"position_mm": [
644.9679140075476,
-186.594968479296,
-26.033158149770536
],
"normal": [
0.030722418106270386,
-0.013932712492663703,
0.9994308443050476
],
"corners_m": [
[
0.6329311637180297,
-0.19875124341953718,
-0.025862499685849274
],
[
0.6326221186577238,
-0.17472654762561257,
-0.025458180919722403
],
[
0.6569506990804731,
-0.17451275151102635,
-0.02626327540261804
],
[
0.6573676745739637,
-0.19838933136100775,
-0.026548676590892432
]
],
"num_cameras": 2,
"edge_length_mm": 24.175917430955543,
"weight": 0.5327
},
{
"marker_id": 94,
"link": "Board",
"set": "A0",
"position_m": [
0.8752155914239963,
0.16895247734777097,
-0.022694111670332157
],
"position_mm": [
875.2155914239963,
168.95247734777098,
-22.69411167033216
],
"normal": [
0.07264343962042422,
0.05484626840750084,
0.9958487924990853
],
"corners_m": [
[
0.8625063599586893,
0.1550195678063951,
-0.02072284440585757
],
[
0.8632543742574026,
0.1801549797512844,
-0.02273316596389743
],
[
0.8872365172483422,
0.18163426094663188,
-0.023944518113655822
],
[
0.887865114231551,
0.15900110088677244,
-0.023375918197917803
]
],
"num_cameras": 2,
"edge_length_mm": 24.43504784921656,
"weight": 0.2058
},
{
"marker_id": 95,
"link": "Board",
"set": "A0",
"position_m": [
0.18479043870759893,
-0.27315602348294,
-0.02782739984865855
],
"position_mm": [
184.79043870759892,
-273.15602348294,
-27.827399848658548
],
"normal": [
-0.002579825446238624,
0.02726550462604094,
0.9996248980283327
],
"corners_m": [
[
0.17247676062067044,
-0.2852620535836137,
-0.026955089638876335
],
[
0.17285464088286517,
-0.26071582590933035,
-0.02878450692434689
],
[
0.1968288308590673,
-0.26120872962765274,
-0.027525887828215287
],
[
0.19700152246779273,
-0.28543748481116327,
-0.028044115003195695
]
],
"num_cameras": 3,
"edge_length_mm": 24.353484797949534,
"weight": 0.6551
},
{
"marker_id": 96,
"link": "Board",
"set": "A0",
"position_m": [
0.36917978083075315,
-0.18571093456176813,
-0.027508985929362476
],
"position_mm": [
369.17978083075315,
-185.7109345617681,
-27.508985929362474
],
"normal": [
0.0226180836020813,
0.01808125908349917,
0.9995806572578947
],
"corners_m": [
[
0.3570532901858247,
-0.1982010433165354,
-0.027210149464167235
],
[
0.3572548620308549,
-0.17395335003479562,
-0.027250036998353155
],
[
0.38127867642806795,
-0.1732282253157512,
-0.028210342916630306
],
[
0.381132294678265,
-0.19746111957999027,
-0.027365414338299195
]
],
"num_cameras": 3,
"edge_length_mm": 24.160357116837623,
"weight": 0.6202
},
{
"marker_id": 97,
"link": "Board",
"set": "A0",
"position_m": [
0.3033590984973789,
-0.35953686405317076,
-0.026352703327591136
],
"position_mm": [
303.3590984973789,
-359.53686405317075,
-26.352703327591136
],
"normal": [
-0.005020762538681978,
0.02288035076986625,
0.9997256030992595
],
"corners_m": [
[
0.29107409864527745,
-0.3713506203257764,
-0.025721189696401792
],
[
0.29141696384733057,
-0.3464573552275517,
-0.02713686267132716
],
[
0.31557985914200815,
-0.3479934555289166,
-0.026120474375875016
],
[
0.3153654723548994,
-0.37234602513043813,
-0.026432286566760572
]
],
"num_cameras": 2,
"edge_length_mm": 24.461627023571666,
"weight": 0.5856
},
{
"marker_id": 98,
"link": "Board",
"set": "A0",
"position_m": [
0.5771533147296002,
0.3157373538722484,
-0.02924445680494865
],
"position_mm": [
577.1533147296002,
315.7373538722484,
-29.24445680494865
],
"normal": [
-0.022742670453084004,
0.044334174344010546,
0.9987578545002274
],
"corners_m": [
[
0.5653524925354336,
0.30398270193645355,
-0.02958538456257603
],
[
0.5648914429576586,
0.32733249401808456,
-0.02946710593292604
],
[
0.5894740368667811,
0.32861625953930595,
-0.030053673187712827
],
[
0.5888952865585277,
0.3030179599951494,
-0.027871663536579723
]
],
"num_cameras": 2,
"edge_length_mm": 24.32503988998394,
"weight": 0.2761
},
{
"marker_id": 100,
"link": "Board",
"set": "A0",
"position_m": [
0.8038022202042736,
0.16901072581912463,
-0.024927923610123078
],
"position_mm": [
803.8022202042736,
169.01072581912462,
-24.927923610123077
],
"normal": [
0.018830483099388354,
-0.016568681904750915,
0.9996853963553649
],
"corners_m": [
[
0.7923247907624538,
0.1578301278410569,
-0.025113812375148287
],
[
0.7914662994677752,
0.17998050150497774,
-0.024305347144062035
],
[
0.8157424492572769,
0.18066919918624097,
-0.02515941595084586
],
[
0.8156753413295881,
0.15756307474422288,
-0.025133118970436134
]
],
"num_cameras": 2,
"edge_length_mm": 23.23524854390913,
"weight": 0.37
},
{
"marker_id": 103,
"link": "Board",
"set": "A0",
"position_m": [
0.10463906139156691,
-0.1863723941529893,
-0.02712433454634665
],
"position_mm": [
104.63906139156691,
-186.3723941529893,
-27.12433454634665
],
"normal": [
-0.0005764344443752469,
0.006904745019520264,
0.9999759958216732
],
"corners_m": [
[
0.09242111468036332,
-0.19865643430113875,
-0.026637644885844445
],
[
0.09258302909997915,
-0.1739634420314617,
-0.027626107772462095
],
[
0.11684911697218134,
-0.17418973941444157,
-0.026788697286611096
],
[
0.11670298481374382,
-0.1986799608649152,
-0.027444888240468954
]
],
"num_cameras": 3,
"edge_length_mm": 24.447407274197904,
"weight": 0.5757
},
{
"marker_id": 104,
"link": "Board",
"set": "A0",
"position_m": [
0.8271675034587607,
0.23540837769401796,
-0.02477399214837287
],
"position_mm": [
827.1675034587606,
235.40837769401796,
-24.773992148372873
],
"normal": [
0.08283750749451468,
0.04199251650901891,
0.9956779478874362
],
"corners_m": [
[
0.8151517151002325,
0.22159007735691677,
-0.02331466128176305
],
[
0.8146075172474999,
0.2460622455354825,
-0.024059700022098243
],
[
0.8396192077280688,
0.24938425915204626,
-0.02651696584296972
],
[
0.8392915737592415,
0.22459692873162623,
-0.02520464144666048
]
],
"num_cameras": 2,
"edge_length_mm": 24.766046412442012,
"weight": 0.344
},
{
"marker_id": 105,
"link": "Board",
"set": "A0",
"position_m": [
0.5245010851959606,
-0.2668786459287793,
-0.027453580235859126
],
"position_mm": [
524.5010851959606,
-266.8786459287793,
-27.453580235859125
],
"normal": [
-0.0008259577306191554,
0.010851946113643457,
0.9999407747758733
],
"corners_m": [
[
0.5127511875417742,
-0.2789004264360081,
-0.027329533745955387
],
[
0.5122751860427066,
-0.25481657391093715,
-0.027597820509233952
],
[
0.536424491908054,
-0.2545361859601635,
-0.027574526815968246
],
[
0.5365534752913078,
-0.27926139740800837,
-0.027312439872278927
]
],
"num_cameras": 3,
"edge_length_mm": 24.193240623441017,
"weight": 0.7985
},
{
"marker_id": 118,
"link": "unknown",
"set": "",
"position_m": [
0.3230691862637467,
-0.17422049806442172,
0.04725562020687358
],
"position_mm": [
323.0691862637467,
-174.22049806442172,
47.25562020687358
],
"normal": [
0.013952922143823326,
-0.9942312705578507,
0.10634611703569845
],
"corners_m": [
[
0.3349417130613985,
-0.17553232168162322,
0.03497916935007513
],
[
0.3109541269729947,
-0.17554011669253738,
0.03498457194889316
],
[
0.311064832718754,
-0.17321410673730636,
0.059745366871430866
],
[
0.3353160723018397,
-0.17259544714622,
0.05931337265709516
]
],
"num_cameras": 3,
"edge_length_mm": 24.408565585699137,
"weight": 0.5442
},
{
"marker_id": 122,
"link": "Ellbow",
"set": "",
"position_m": [
0.36007471693907533,
-0.1734507548515825,
0.04618423704607589
],
"position_mm": [
360.07471693907536,
-173.4507548515825,
46.184237046075886
],
"normal": [
0.011141707060048817,
-0.99428798153039,
0.10614740763679043
],
"corners_m": [
[
0.37240494404899305,
-0.17441541066699165,
0.03436722077542395
],
[
0.3484805964090285,
-0.175097754722769,
0.0335141214870975
],
[
0.3473329152263175,
-0.1722262333133193,
0.057502902698665495
],
[
0.3720804120719623,
-0.17206362070325007,
0.05935270322311661
]
],
"num_cameras": 3,
"edge_length_mm": 24.512909883673583,
"weight": 0.5285
},
{
"marker_id": 143,
"link": "Arm2",
"set": "",
"position_m": [
0.33981054963127205,
-0.13806245105138643,
0.22948019727595487
],
"position_mm": [
339.81054963127207,
-138.06245105138643,
229.48019727595488
],
"normal": [
-0.7318287455373648,
-0.6766263576221342,
0.0812616722459672
],
"corners_m": [
[
0.34762864087416784,
-0.14784457667825643,
0.21823335329705618
],
[
0.33135227599202377,
-0.13050469489062813,
0.2164408200798731
],
[
0.3319336466231742,
-0.12817210420152697,
0.24069166835995076
],
[
0.3483276350357225,
-0.14572842843513414,
0.24255494736693956
]
],
"num_cameras": 2,
"edge_length_mm": 24.183884952933447,
"weight": 0.5659
},
{
"marker_id": 144,
"link": "Arm2",
"set": "",
"position_m": [
0.36294623514556434,
-0.15686121783821494,
0.15804923012695163
],
"position_mm": [
362.94623514556434,
-156.86121783821494,
158.04923012695164
],
"normal": [
-0.03961155666264203,
-0.9930883813158348,
0.11048253922795877
],
"corners_m": [
[
0.3747523294557626,
-0.1587336421866692,
0.1457638570190762
],
[
0.3504334829666493,
-0.15765021825294326,
0.1461677763341974
],
[
0.3510747571402435,
-0.15501333481422458,
0.17070422806466942
],
[
0.37552437101960223,
-0.1560476760990227,
0.16956105908986352
]
],
"num_cameras": 3,
"edge_length_mm": 24.372824845204892,
"weight": 0.6521
},
{
"marker_id": 147,
"link": "FingerA",
"set": "",
"position_m": [
0.3828159063902664,
-0.14366724006486958,
0.2266037155331142
],
"position_mm": [
382.81590639026643,
-143.6672400648696,
226.6037155331142
],
"normal": [
0.4282712681448144,
-0.901202892517993,
0.06646102165055302
],
"corners_m": [
[
0.3929084320814041,
-0.13965522237004693,
0.21384856404250155
],
[
0.37191586534199633,
-0.14984176216434011,
0.21524315922006673
],
[
0.37222911001480485,
-0.1476075410025408,
0.23934139744812052
],
[
0.3942102181228603,
-0.13756443472255045,
0.23798174142176798
]
],
"num_cameras": 3,
"edge_length_mm": 24.010576110817258,
"weight": 0.7036
},
{
"marker_id": 148,
"link": "Arm2",
"set": "",
"position_m": [
0.36684427389063146,
-0.14242844255483006,
0.2646551505141377
],
"position_mm": [
366.8442738906315,
-142.42844255483007,
264.6551505141377
],
"normal": [
-0.04437130239640494,
-0.994928705935303,
0.09026659199033793
],
"corners_m": [
[
0.3784559988718673,
-0.14396071114446288,
0.2520022727471954
],
[
0.35428507095127926,
-0.14307658956201733,
0.25279010149371905
],
[
0.355303694411923,
-0.1406210734486656,
0.2774443654651806
],
[
0.3793323313274563,
-0.14205539606417447,
0.27638386235045576
]
],
"num_cameras": 3,
"edge_length_mm": 24.390867522653068,
"weight": 0.8107
},
{
"marker_id": 178,
"link": "FingerB",
"set": "",
"position_m": [
0.2873083816732559,
-0.1204523984692931,
0.31528984233795565
],
"position_mm": [
287.3083816732559,
-120.4523984692931,
315.28984233795563
],
"normal": [
-0.6638714507770289,
-0.7303539125355842,
-0.1608037912711233
],
"corners_m": [
[
0.2791791678330686,
-0.11588709688603212,
0.3288227301751599
],
[
0.2946672649472234,
-0.12945514503467603,
0.32508671529482486
],
[
0.2963685837567795,
-0.1255521206752735,
0.3016943756313494
],
[
0.2790185101559521,
-0.11091523128119078,
0.30555554825048836
]
],
"num_cameras": 2,
"edge_length_mm": 22.880483209351958,
"weight": 0.4469
},
{
"marker_id": 179,
"link": "FingerB",
"set": "",
"position_m": [
0.3296122322552461,
-0.14032302981080244,
0.31306995291133316
],
"position_mm": [
329.6122322552461,
-140.32302981080244,
313.06995291133313
],
"normal": [
-0.6954025319175863,
-0.1517710390500229,
0.7024107561165952
],
"corners_m": [
[
0.3157250769646444,
-0.13554525593524452,
0.3014883363233178
],
[
0.33010118541566774,
-0.12370263971572265,
0.31623899315396775
],
[
0.34515021801455026,
-0.1472429806053301,
0.32774278667648726
],
[
0.32747244862612207,
-0.15480124298691247,
0.3068096954915598
]
],
"num_cameras": 2,
"edge_length_mm": 26.393090516707705,
"weight": 0.486
},
{
"marker_id": 198,
"link": "Arm1",
"set": "",
"position_m": [
0.26881580585664533,
-0.05379457884938547,
0.08452042057809034
],
"position_mm": [
268.81580585664534,
-53.794578849385466,
84.52042057809034
],
"normal": [
0.017566666136188274,
0.025865435612564824,
0.9995110762174835
],
"corners_m": [
[
0.2568793403490033,
-0.04140438201744493,
0.0842559350343917
],
[
0.2799691269017331,
-0.04119455036867765,
0.08415017912000738
],
[
0.28174308352469857,
-0.0663428494455957,
0.08447817687616997
],
[
0.2566716726511463,
-0.0662365335658236,
0.08519739128179227
]
],
"num_cameras": 2,
"edge_length_mm": 24.559178479483467,
"weight": 0.4756
},
{
"marker_id": 200,
"link": "unknown",
"set": "",
"position_m": [
0.1996092097261793,
-0.02861533294246476,
0.1100305655090917
],
"position_mm": [
199.6092097261793,
-28.61533294246476,
110.0305655090917
],
"normal": [
-0.06794203786927566,
-0.01026410858882998,
0.9976364706470222
],
"corners_m": [
[
0.18669497555188935,
-0.017711645058359447,
0.1090409931624479
],
[
0.21096853472627572,
-0.0173795415596954,
0.11115529002428795
],
[
0.2124639298426622,
-0.038875797606562075,
0.1105640599858955
],
[
0.18830939878389,
-0.04049434754524211,
0.1093619188637354
]
],
"num_cameras": 2,
"edge_length_mm": 23.251164764339194,
"weight": 0.5331
},
{
"marker_id": 204,
"link": "unknown",
"set": "",
"position_m": [
0.19888645661810428,
0.11609234959439481,
0.12031234222159706
],
"position_mm": [
198.8864566181043,
116.0923495943948,
120.31234222159706
],
"normal": [
0.05577045254037239,
0.0376096693851038,
0.99773501962805
],
"corners_m": [
[
0.1869960309188958,
0.12775795152365196,
0.1205098999222131
],
[
0.2103543652276836,
0.1290856044901338,
0.11920903513340543
],
[
0.21095616739052567,
0.10450359572254055,
0.12004744709524401
],
[
0.18723926293531196,
0.10302224664125299,
0.12148298673552568
]
],
"num_cameras": 2,
"edge_length_mm": 24.149577827512992,
"weight": 0.3494
},
{
"marker_id": 208,
"link": "Board",
"set": "rail",
"position_m": [
0.626322335509323,
-0.09856325231875387,
-0.006780239265140948
],
"position_mm": [
626.322335509323,
-98.56325231875387,
-6.780239265140948
],
"normal": [
0.0038301249004609934,
-0.013340539198762658,
0.9999036754393562
],
"corners_m": [
[
0.6140048509576447,
-0.08704594956957819,
-0.0066087535914969835
],
[
0.6379544707962286,
-0.0867506888241949,
-0.006637025432582061
],
[
0.638770850846449,
-0.10975632736546362,
-0.007007083099927893
],
[
0.6145591694369701,
-0.11070004351577878,
-0.0068680949365568554
]
],
"num_cameras": 3,
"edge_length_mm": 23.716756037695387,
"weight": 0.5365
},
{
"marker_id": 210,
"link": "Board",
"set": "rail",
"position_m": [
0.1297589855328959,
-0.007256398983754079,
-0.006272767443548488
],
"position_mm": [
129.75898553289588,
-7.256398983754079,
-6.272767443548489
],
"normal": [
0.027999482572265002,
0.010019712811658033,
0.9995577193593461
],
"corners_m": [
[
0.11794387127735227,
0.003845860262667567,
-0.00573296267127323
],
[
0.1414686146989034,
0.004825664602823929,
-0.007030208468504494
],
[
0.14152659890551933,
-0.018788427286291574,
-0.006176679615872469
],
[
0.11809685724980853,
-0.01890869351421624,
-0.006151219018543758
]
],
"num_cameras": 2,
"edge_length_mm": 23.34985192204316,
"weight": 0.4052
},
{
"marker_id": 214,
"link": "unknown",
"set": "",
"position_m": [
0.5321503714495919,
-0.007884081286054181,
-0.007329274617212688
],
"position_mm": [
532.1503714495918,
-7.884081286054181,
-7.329274617212688
],
"normal": [
-0.02081390498977253,
0.05530732642929549,
0.9982524134718234
],
"corners_m": [
[
0.5203474515703065,
0.004160282873375151,
-0.008333118644696751
],
[
0.5440829433244703,
0.004178347222133186,
-0.007657245398997705
],
[
0.544160209503039,
-0.019790375120851217,
-0.006509221543962739
],
[
0.5200108814005516,
-0.02008458011887385,
-0.006817512881193558
]
],
"num_cameras": 3,
"edge_length_mm": 24.047262986491518,
"weight": 0.3908
},
{
"marker_id": 217,
"link": "Board",
"set": "rail",
"position_m": [
0.7302361278755709,
-0.008433604186836339,
-0.004997346207152399
],
"position_mm": [
730.2361278755709,
-8.43360418683634,
-4.9973462071523995
],
"normal": [
-0.018329909691558396,
-0.01880878052863644,
0.9996550626019582
],
"corners_m": [
[
0.7186528279665371,
0.0040809595742825585,
-0.005425190588085155
],
[
0.7423252482965719,
0.002270185490187872,
-0.004099495441306945
],
[
0.7420597703320663,
-0.02033743777526726,
-0.005471233849007794
],
[
0.7179066649071084,
-0.019748124036548523,
-0.004993464950209702
]
],
"num_cameras": 2,
"edge_length_mm": 23.609751068891896,
"weight": 0.545
},
{
"marker_id": 229,
"link": "Arm1",
"set": "",
"position_m": [
0.2711508635186137,
-0.14218885909938545,
0.0792725401497974
],
"position_mm": [
271.15086351861373,
-142.18885909938544,
79.2725401497974
],
"normal": [
0.018274420170428296,
-0.030085243946788468,
0.9993802697992876
],
"corners_m": [
[
0.2587018326406737,
-0.13083421375457843,
0.07976007350657924
],
[
0.28302225568153916,
-0.12998919911719906,
0.0795061997362513
],
[
0.28375656978944785,
-0.1533084995889226,
0.0786249196622942
],
[
0.2591227959627941,
-0.15462352393684178,
0.07919896769406488
]
],
"num_cameras": 3,
"edge_length_mm": 24.039774323286583,
"weight": 0.5435
},
{
"marker_id": 243,
"link": "Arm1",
"set": "",
"position_m": [
0.2705163827256898,
-0.17575924571402637,
0.04277352660261536
],
"position_mm": [
270.51638272568977,
-175.75924571402638,
42.77352660261536
],
"normal": [
0.0037969251175363765,
-0.9993250429938724,
-0.036538223888788246
],
"corners_m": [
[
0.2586799590782121,
-0.17652327643438798,
0.05494635713764645
],
[
0.28302458903333044,
-0.17585751655337264,
0.05433147049182646
],
[
0.2825609080510037,
-0.17554427907569686,
0.030698639174219697
],
[
0.25780007474021294,
-0.17511191079264812,
0.031117639606768836
]
],
"num_cameras": 3,
"edge_length_mm": 24.163947368976483,
"weight": 0.3948
}
]
}