Files
appRobotRender/data/camera_study/Scene4/k5_bcdef/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

673 lines
13 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-02T22:54:12Z",
"summary": {
"num_cameras": 5,
"num_markers": 30,
"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
]
},
{
"camera_id": "f",
"position_m": [
0.4848910479147168,
-0.3064199973610857,
1.40194389878924
],
"position_mm": [
484.8910479147168,
-306.41999736108573,
1401.9438987892402
],
"direction": [
-0.22731362283229828,
0.08567609637975693,
-0.9700454473495483
]
}
],
"markers": [
{
"marker_id": 42,
"position_m": [
0.292423902683581,
-0.3622179272337811,
0.18952723588296513
],
"position_mm": [
292.423902683581,
-362.2179272337811,
189.52723588296513
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 44,
"position_m": [
0.32002262110270185,
-0.28971241351099275,
0.18681362438026317
],
"position_mm": [
320.02262110270186,
-289.71241351099275,
186.81362438026318
],
"link": "FingerB",
"normal": [
0.0,
-0.9375276894468237,
-0.34791066600565723
]
},
{
"marker_id": 48,
"position_m": [
0.6885296444457507,
-0.32001294710714207,
-0.026285576443648633
],
"position_mm": [
688.5296444457507,
-320.01294710714205,
-26.285576443648633
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 50,
"position_m": [
0.5710545002010963,
0.21025313973702908,
-0.026524327215974045
],
"position_mm": [
571.0545002010963,
210.25313973702907,
-26.524327215974044
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.1678190142678709,
-0.17355010015388794,
-0.027386097538182937
],
"position_mm": [
167.8190142678709,
-173.55010015388794,
-27.386097538182938
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.048923551247838495,
-0.2172902630706426,
-0.02650712598211966
],
"position_mm": [
48.923551247838496,
-217.2902630706426,
-26.50712598211966
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.6265728421522692,
-0.2772904829036347,
-0.027456389472277003
],
"position_mm": [
626.5728421522691,
-277.2904829036347,
-27.456389472277003
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 61,
"position_m": [
-0.02119528716669451,
0.33205853226328474,
-0.02502623078524726
],
"position_mm": [
-21.19528716669451,
332.05853226328475,
-25.02623078524726
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4032812288477795,
-0.17220274362235352,
-0.028209779148554482
],
"position_mm": [
403.2812288477795,
-172.20274362235352,
-28.20977914855448
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7753487754326611,
-0.23612405842245351,
-0.027868632042469747
],
"position_mm": [
775.3487754326611,
-236.12405842245352,
-27.86863204246975
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.021977021790081257,
-0.1864683216617902,
-0.029364282844814828
],
"position_mm": [
-21.977021790081256,
-186.46832166179018,
-29.364282844814827
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.005106371259816287,
-0.2794635888496086,
-0.027322728752784537
],
"position_mm": [
5.106371259816287,
-279.4635888496086,
-27.32272875278454
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.31258853918085805,
-0.15853864162684994,
-0.027851027196526698
],
"position_mm": [
312.58853918085805,
-158.53864162684994,
-27.851027196526697
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5067151453274431,
-0.3150589024959263,
-0.026460911490326578
],
"position_mm": [
506.7151453274431,
-315.05890249592625,
-26.460911490326577
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3696229941395846,
-0.1867456629359282,
-0.025874638484611766
],
"position_mm": [
369.6229941395846,
-186.7456629359282,
-25.874638484611765
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6507385363446415,
-0.22184720960649593,
-0.028651656061001004
],
"position_mm": [
650.7385363446415,
-221.84720960649594,
-28.651656061001002
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10576296558453123,
-0.1892907777127485,
-0.028250766586813178
],
"position_mm": [
105.76296558453123,
-189.29077771274848,
-28.250766586813178
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 114,
"position_m": [
0.2811976757054371,
-0.23576437760034077,
0.22102565457435167
],
"position_mm": [
281.19767570543706,
-235.76437760034077,
221.02565457435168
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 115,
"position_m": [
0.31000251898687653,
-0.2278654090490481,
0.1815522295234136
],
"position_mm": [
310.0025189868765,
-227.86540904904808,
181.5522295234136
],
"link": "Arm2",
"normal": [
-0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 120,
"position_m": [
0.28114652054842354,
-0.1698516634362051,
0.24459524342498548
],
"position_mm": [
281.14652054842355,
-169.85166343620511,
244.59524342498548
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 206,
"position_m": [
0.6507336784859382,
-0.009466226449334278,
-0.00015106591424741592
],
"position_mm": [
650.7336784859382,
-9.466226449334277,
-0.15106591424741592
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.35275774898131423,
-0.09164343009893555,
0.0016568954603863916
],
"position_mm": [
352.75774898131425,
-91.64343009893555,
1.6568954603863917
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.021963158627996394,
-0.01933710895973445,
0.0006809786189573365
],
"position_mm": [
21.963158627996396,
-19.33710895973445,
0.6809786189573365
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.34750234502732275,
-0.011818992272181975,
0.0009952638190729732
],
"position_mm": [
347.50234502732275,
-11.818992272181974,
0.9952638190729732
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 218,
"position_m": [
0.2544391887921733,
-0.1708023976281821,
0.24273594432673531
],
"position_mm": [
254.4391887921733,
-170.80239762818212,
242.7359443267353
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 219,
"position_m": [
0.25503886013348287,
-0.26991923913792537,
0.20567003677064832
],
"position_mm": [
255.03886013348287,
-269.9192391379254,
205.67003677064832
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 243,
"position_m": [
0.17419177954819098,
-0.01456918751078767,
0.24197624475810248
],
"position_mm": [
174.191779548191,
-14.56918751078767,
241.97624475810247
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 244,
"position_m": [
0.3095449360928377,
-0.05785139719179031,
0.25703319002684477
],
"position_mm": [
309.5449360928377,
-57.85139719179031,
257.03319002684475
],
"link": "Ellbow",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 246,
"position_m": [
0.2697228673774789,
-0.06813025139419837,
0.2845750959580609
],
"position_mm": [
269.7228673774789,
-68.13025139419837,
284.5750959580609
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 247,
"position_m": [
0.2325964983033317,
-0.06327485614224543,
0.28665207897054634
],
"position_mm": [
232.5964983033317,
-63.274856142245426,
286.65207897054637
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
}
]
}