Files
appRobotRender/data/camera_study/Scene4/k4_bcde/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

522 lines
9.9 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-02T22:52:26Z",
"summary": {
"num_cameras": 4,
"num_markers": 23,
"num_constraints": 94
},
"cameras": [
{
"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": "c",
"position_m": [
0.30222042083446865,
-0.9015130863831495,
0.39827613859571753
],
"position_mm": [
302.22042083446865,
-901.5130863831496,
398.27613859571755
],
"direction": [
-0.10769812762737274,
0.9494794607162476,
-0.2947707772254944
]
},
{
"camera_id": "d",
"position_m": [
0.7046937746856436,
-0.7914174011623307,
0.3989527588758248
],
"position_mm": [
704.6937746856437,
-791.4174011623307,
398.9527588758248
],
"direction": [
-0.5576696991920471,
0.7805226445198059,
-0.28246936202049255
]
},
{
"camera_id": "e",
"position_m": [
1.2059563341749637,
-0.9025538118437437,
0.4061715893081437
],
"position_mm": [
1205.9563341749638,
-902.5538118437437,
406.17158930814367
],
"direction": [
-0.750444233417511,
0.60433429479599,
-0.2676071226596832
]
}
],
"markers": [
{
"marker_id": 42,
"position_m": [
0.2924239026835235,
-0.362217927230612,
0.1895272358816278
],
"position_mm": [
292.42390268352347,
-362.217927230612,
189.52723588162777
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 44,
"position_m": [
0.32026329590290276,
-0.28977443684701654,
0.18682918113078348
],
"position_mm": [
320.26329590290277,
-289.77443684701655,
186.82918113078347
],
"link": "FingerB",
"normal": [
0.0,
-0.9375276894468237,
-0.34791066600565723
]
},
{
"marker_id": 48,
"position_m": [
0.688529644445652,
-0.3200129471075317,
-0.026285576443472902
],
"position_mm": [
688.529644445652,
-320.0129471075317,
-26.285576443472902
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 50,
"position_m": [
0.5710545002013034,
0.21025313973780121,
-0.026524327216491936
],
"position_mm": [
571.0545002013034,
210.2531397378012,
-26.524327216491937
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.1676113115866995,
-0.17347072249856343,
-0.02747680542447051
],
"position_mm": [
167.61131158669951,
-173.47072249856345,
-27.47680542447051
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04863525838939655,
-0.21701483616835632,
-0.026831026580306873
],
"position_mm": [
48.63525838939655,
-217.0148361683563,
-26.831026580306872
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.6265728421520007,
-0.27729048290426156,
-0.027456389471776674
],
"position_mm": [
626.5728421520007,
-277.2904829042616,
-27.456389471776674
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4024731891225188,
-0.17314878837046951,
-0.02769569593144159
],
"position_mm": [
402.47318912251876,
-173.1487883704695,
-27.69569593144159
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7753487754328816,
-0.23612405842270323,
-0.02786863204141684
],
"position_mm": [
775.3487754328817,
-236.12405842270323,
-27.868632041416838
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.022118398770009425,
-0.18584328503642505,
-0.029534305590605974
],
"position_mm": [
-22.118398770009424,
-185.84328503642504,
-29.534305590605975
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.006218189972233789,
-0.2801558582626422,
-0.026451691678143485
],
"position_mm": [
6.218189972233789,
-280.1558582626422,
-26.451691678143487
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5067151453275416,
-0.3150589024962765,
-0.026460911490106334
],
"position_mm": [
506.71514532754156,
-315.0589024962765,
-26.460911490106334
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.37076353038176946,
-0.19107847496391556,
-0.02291476009380903
],
"position_mm": [
370.76353038176944,
-191.07847496391557,
-22.91476009380903
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6507385363487979,
-0.221847209609037,
-0.028651656059833268
],
"position_mm": [
650.7385363487979,
-221.847209609037,
-28.651656059833268
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10553443858125673,
-0.18912616764011442,
-0.028394110898413264
],
"position_mm": [
105.53443858125674,
-189.12616764011443,
-28.394110898413263
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 114,
"position_m": [
0.2818195380976618,
-0.23580643340556,
0.2211588977275273
],
"position_mm": [
281.8195380976618,
-235.80643340556,
221.15889772752732
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 115,
"position_m": [
0.3101246975101879,
-0.22779419575347373,
0.18134831512425972
],
"position_mm": [
310.1246975101879,
-227.79419575347373,
181.34831512425973
],
"link": "Arm2",
"normal": [
-0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 120,
"position_m": [
0.2830755791204158,
-0.16997143260843464,
0.24491134354088434
],
"position_mm": [
283.0755791204158,
-169.97143260843464,
244.91134354088433
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 206,
"position_m": [
0.6507336784863599,
-0.009466226449816595,
-0.00015106591384566635
],
"position_mm": [
650.7336784863598,
-9.466226449816595,
-0.15106591384566637
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.35292848912631397,
-0.09072416875111415,
0.001426115099443929
],
"position_mm": [
352.928489126314,
-90.72416875111415,
1.426115099443929
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 243,
"position_m": [
0.09611142565398055,
0.18847942277465854,
0.19929890205485382
],
"position_mm": [
96.11142565398055,
188.47942277465853,
199.2989020548538
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 244,
"position_m": [
0.3107375845962157,
-0.05797129853640702,
0.25655117137672334
],
"position_mm": [
310.7375845962157,
-57.97129853640702,
256.55117137672335
],
"link": "Ellbow",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 247,
"position_m": [
0.23391817091420358,
-0.06477674648321018,
0.28662732699505383
],
"position_mm": [
233.91817091420359,
-64.77674648321018,
286.6273269950538
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
}
]
}