Files
appRobotRender/data/camera_study/Scene4/k3_abg/aruco_positions_initial.json
2026-06-03 07:04:27 +02:00

638 lines
12 KiB
JSON

{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-02T22:51:28Z",
"summary": {
"num_cameras": 3,
"num_markers": 30,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.3001274357176493,
-0.7979520803678932,
0.8009902676185592
],
"position_mm": [
-300.12743571764935,
-797.9520803678932,
800.9902676185592
],
"direction": [
0.4789915382862091,
0.6567302346229553,
-0.5824710726737976
]
},
{
"camera_id": "b",
"position_m": [
0.30646773723406184,
-0.8952954576450594,
1.2012608829797486
],
"position_mm": [
306.4677372340618,
-895.2954576450594,
1201.2608829797487
],
"direction": [
0.00400501536205411,
0.6243181228637695,
-0.7811599373817444
]
},
{
"camera_id": "g",
"position_m": [
-0.20647920852698148,
0.20854052825566233,
1.3996693000606282
],
"position_mm": [
-206.4792085269815,
208.54052825566234,
1399.669300060628
],
"direction": [
0.30005520582199097,
-0.30117395520210266,
-0.9051304459571838
]
}
],
"markers": [
{
"marker_id": 42,
"position_m": [
0.29277379418674554,
-0.3615445170700594,
0.18877741796670347
],
"position_mm": [
292.77379418674553,
-361.5445170700594,
188.77741796670347
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 48,
"position_m": [
0.6873634134732957,
-0.3186227470193408,
-0.027288416839836564
],
"position_mm": [
687.3634134732956,
-318.6227470193408,
-27.288416839836565
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16842183050621237,
-0.17323231566607225,
-0.028414298410012705
],
"position_mm": [
168.42183050621236,
-173.23231566607225,
-28.414298410012705
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.340363805387543,
-0.32716777993589946,
-0.028502632210201346
],
"position_mm": [
340.36380538754304,
-327.1677799358995,
-28.502632210201345
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.2844057794227306,
-0.2606132327772212,
-0.027546052925937082
],
"position_mm": [
284.4057794227306,
-260.6132327772212,
-27.546052925937083
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.6277898049442017,
-0.2768737816177446,
-0.02735659682697853
],
"position_mm": [
627.7898049442017,
-276.8737816177446,
-27.35659682697853
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 61,
"position_m": [
-0.02196188073050655,
0.3344014171314691,
-0.026854081507662206
],
"position_mm": [
-21.96188073050655,
334.4014171314691,
-26.854081507662205
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7750100155602909,
-0.23674575906182768,
-0.027288591944071152
],
"position_mm": [
775.0100155602909,
-236.74575906182767,
-27.28859194407115
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.018786747270226486,
-0.18929130821275045,
-0.02756012168306336
],
"position_mm": [
-18.786747270226485,
-189.29130821275044,
-27.560121683063358
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.006135339548626465,
-0.27758473003891476,
-0.02779656538733472
],
"position_mm": [
6.135339548626464,
-277.58473003891476,
-27.79656538733472
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 71,
"position_m": [
0.7515455997278438,
-0.28555846020621334,
-0.027179522830430295
],
"position_mm": [
751.5455997278439,
-285.55846020621334,
-27.179522830430294
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5071597507422316,
-0.3138254214309196,
-0.02809673552305244
],
"position_mm": [
507.1597507422316,
-313.8254214309196,
-28.096735523052438
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.36192355528513137,
0.29491911187012515,
-0.02676812437772893
],
"position_mm": [
361.9235552851314,
294.91911187012516,
-26.768124377728927
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6463669747542796,
-0.18684189552080452,
-0.027357160107897877
],
"position_mm": [
646.3669747542796,
-186.8418955208045,
-27.357160107897876
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 94,
"position_m": [
0.8723983353761882,
0.1737748572012302,
-0.02624413775207572
],
"position_mm": [
872.3983353761881,
173.7748572012302,
-26.24413775207572
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18677273113949322,
-0.2763350399443944,
-0.027711310213002625
],
"position_mm": [
186.77273113949323,
-276.3350399443944,
-27.711310213002626
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.37205766810250596,
-0.18364462150471417,
-0.028522042063474525
],
"position_mm": [
372.05766810250594,
-183.64462150471417,
-28.522042063474526
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6517722261223926,
-0.22363598369014656,
-0.028224115512018543
],
"position_mm": [
651.7722261223926,
-223.63598369014656,
-28.224115512018543
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10502692553158557,
-0.1907967820116922,
-0.027712218818060134
],
"position_mm": [
105.02692553158558,
-190.7967820116922,
-27.712218818060133
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 105,
"position_m": [
0.5228071873209807,
-0.26814334651726585,
-0.027922962879154377
],
"position_mm": [
522.8071873209808,
-268.14334651726585,
-27.922962879154376
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 114,
"position_m": [
0.28100635805586444,
-0.23530133225032543,
0.2194100881523203
],
"position_mm": [
281.00635805586444,
-235.30133225032543,
219.4100881523203
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 120,
"position_m": [
0.28236991564422104,
-0.16849714208016675,
0.24353470195245314
],
"position_mm": [
282.369915644221,
-168.49714208016675,
243.53470195245313
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 205,
"position_m": [
0.752974098467309,
-0.0902065922431702,
-0.00029078202387706076
],
"position_mm": [
752.974098467309,
-90.20659224317019,
-0.29078202387706076
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 206,
"position_m": [
0.6504211868180749,
-0.009691876002269896,
-0.00022850931837027072
],
"position_mm": [
650.421186818075,
-9.691876002269897,
-0.22850931837027072
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 217,
"position_m": [
0.6471543572461015,
-0.08908868757167286,
-0.0005699335876271564
],
"position_mm": [
647.1543572461015,
-89.08868757167286,
-0.5699335876271564
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 218,
"position_m": [
0.2509813315871136,
-0.16769354165645273,
0.24066905499309285
],
"position_mm": [
250.9813315871136,
-167.69354165645274,
240.66905499309286
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 219,
"position_m": [
0.25415614204836817,
-0.27032931554550105,
0.20532262926082298
],
"position_mm": [
254.15614204836817,
-270.32931554550106,
205.322629260823
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 243,
"position_m": [
0.18036653932794403,
-0.07630702309484699,
0.2761960833668932
],
"position_mm": [
180.36653932794403,
-76.307023094847,
276.1960833668932
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 246,
"position_m": [
0.2705164048540168,
-0.0659534818996884,
0.2836112766146652
],
"position_mm": [
270.5164048540168,
-65.9534818996884,
283.6112766146652
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 247,
"position_m": [
0.2320812565480187,
-0.06029335285482951,
0.2858707777456851
],
"position_mm": [
232.0812565480187,
-60.29335285482951,
285.8707777456851
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
}
]
}