Files
appRobotRender/data/camera_study/Scene4/k5_abcde/aruco_positions_initial.json
2026-06-03 07:04:27 +02:00

826 lines
16 KiB
JSON

{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-02T22:54:20Z",
"summary": {
"num_cameras": 5,
"num_markers": 38,
"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": "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": [
0.29260991488520327,
-0.362217036335718,
0.18952846793469363
],
"position_mm": [
292.6099148852033,
-362.217036335718,
189.52846793469362
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 44,
"position_m": [
0.3201662041687135,
-0.2911612275311071,
0.1893257902609436
],
"position_mm": [
320.1662041687135,
-291.1612275311071,
189.3257902609436
],
"link": "FingerB",
"normal": [
0.0,
-0.9375276894468237,
-0.34791066600565723
]
},
{
"marker_id": 48,
"position_m": [
0.6873149931961275,
-0.3186271230120648,
-0.02732199681374294
],
"position_mm": [
687.3149931961275,
-318.6271230120648,
-27.32199681374294
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 50,
"position_m": [
0.5710606293569248,
0.21025136806439673,
-0.026524156620634374
],
"position_mm": [
571.0606293569248,
210.25136806439673,
-26.524156620634376
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.1674865281218402,
-0.17295547191056185,
-0.027468285104824165
],
"position_mm": [
167.4865281218402,
-172.95547191056184,
-27.468285104824165
],
"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": 58,
"position_m": [
0.04715004367112651,
-0.2166941657154333,
-0.027354132324828247
],
"position_mm": [
47.15004367112651,
-216.6941657154333,
-27.354132324828246
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.6276443103328568,
-0.2772100308186336,
-0.027108697086914154
],
"position_mm": [
627.6443103328569,
-277.2100308186336,
-27.108697086914155
],
"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": 62,
"position_m": [
0.4019803402101464,
-0.17427342811060326,
-0.026857833432403284
],
"position_mm": [
401.9803402101464,
-174.27342811060325,
-26.857833432403286
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7752842905475349,
-0.23621299064063236,
-0.027949446096684174
],
"position_mm": [
775.2842905475349,
-236.21299064063237,
-27.949446096684174
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.019027560565372574,
-0.19000658281339858,
-0.02726443918887955
],
"position_mm": [
-19.027560565372575,
-190.00658281339858,
-27.26443918887955
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.006025336759655235,
-0.2779293083450852,
-0.027492496922843765
],
"position_mm": [
6.025336759655235,
-277.92930834508525,
-27.492496922843763
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.3118249190759066,
-0.15849707176017463,
-0.028369815121468155
],
"position_mm": [
311.82491907590656,
-158.49707176017463,
-28.369815121468154
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5055242927788205,
-0.3140724193405785,
-0.0270758786991171
],
"position_mm": [
505.5242927788205,
-314.0724193405785,
-27.075878699117098
],
"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": [
0.18673295016431632,
-0.2760555854099222,
-0.02764824958728027
],
"position_mm": [
186.73295016431632,
-276.0555854099222,
-27.64824958728027
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3720173783957598,
-0.18431021788176463,
-0.027831217681550207
],
"position_mm": [
372.0173783957598,
-184.31021788176463,
-27.831217681550207
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6513029132441325,
-0.22384369242279759,
-0.02752378916959515
],
"position_mm": [
651.3029132441325,
-223.84369242279757,
-27.52378916959515
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10487714786076037,
-0.1912406747487312,
-0.02713130044520294
],
"position_mm": [
104.87714786076037,
-191.24067474873118,
-27.131300445202942
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 105,
"position_m": [
0.5229277939374632,
-0.26771769357825015,
-0.028080586631773454
],
"position_mm": [
522.9277939374632,
-267.71769357825013,
-28.080586631773453
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 114,
"position_m": [
0.2793328722878673,
-0.2365799670504175,
0.22290539073172694
],
"position_mm": [
279.3328722878673,
-236.5799670504175,
222.90539073172692
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 115,
"position_m": [
0.30988059531989065,
-0.226938330794401,
0.18116972366956288
],
"position_mm": [
309.88059531989063,
-226.938330794401,
181.16972366956287
],
"link": "Arm2",
"normal": [
-0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 120,
"position_m": [
0.2822798130975446,
-0.16904499341457999,
0.24444953649664097
],
"position_mm": [
282.27981309754455,
-169.04499341457998,
244.44953649664097
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 205,
"position_m": [
0.7528453089537392,
-0.09070786319261125,
0.00012710206317461553
],
"position_mm": [
752.8453089537393,
-90.70786319261124,
0.12710206317461553
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 206,
"position_m": [
0.6506993739667997,
-0.009233415295877673,
-0.00022437395185114455
],
"position_mm": [
650.6993739667996,
-9.233415295877673,
-0.22437395185114456
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.3520256587331803,
-0.08900549665892239,
0.0007751422913507712
],
"position_mm": [
352.0256587331803,
-89.0054966589224,
0.7751422913507713
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.0218013000079251,
-0.019452324917173636,
0.0006002982486008494
],
"position_mm": [
21.8013000079251,
-19.452324917173634,
0.6002982486008495
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.25240643055272044,
-0.009482888877781932,
0.00036198644330371287
],
"position_mm": [
252.40643055272045,
-9.482888877781932,
0.3619864433037129
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.34715139531231837,
-0.01166079749948749,
0.0009715433160817566
],
"position_mm": [
347.15139531231836,
-11.66079749948749,
0.9715433160817566
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.2509200829820561,
-0.08745425698749158,
-0.0005765175295720739
],
"position_mm": [
250.9200829820561,
-87.45425698749158,
-0.5765175295720739
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 217,
"position_m": [
0.6470820033074478,
-0.0891155827418281,
-0.00019791206518620725
],
"position_mm": [
647.0820033074478,
-89.11558274182809,
-0.19791206518620724
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 218,
"position_m": [
0.2520152048599477,
-0.16758261333024965,
0.24107029164978386
],
"position_mm": [
252.01520485994772,
-167.58261333024964,
241.07029164978385
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 219,
"position_m": [
0.25510174185583484,
-0.2699740727888394,
0.20520845184199474
],
"position_mm": [
255.10174185583483,
-269.9740727888394,
205.20845184199473
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 243,
"position_m": [
0.34774887940177535,
0.1671375897076559,
0.0558562103575736
],
"position_mm": [
347.74887940177535,
167.1375897076559,
55.8562103575736
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 244,
"position_m": [
0.3061753925114399,
-0.05048735239164153,
0.25572509743617433
],
"position_mm": [
306.1753925114399,
-50.48735239164153,
255.72509743617434
],
"link": "Ellbow",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 246,
"position_m": [
0.27171505536500257,
-0.06591645984757684,
0.28428157698458295
],
"position_mm": [
271.71505536500257,
-65.91645984757685,
284.28157698458295
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 247,
"position_m": [
0.23211694633671137,
-0.06141560287406985,
0.2860151534651106
],
"position_mm": [
232.11694633671138,
-61.41560287406985,
286.0151534651106
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
}
]
}