Files
appRobotRender/data/camera_study/Scene5/k3_abc/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

219 lines
4.2 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-02T22:56:22Z",
"summary": {
"num_cameras": 3,
"num_markers": 8,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.29985778072375346,
-0.9015086886763308,
0.7085895420934379
],
"position_mm": [
-299.8577807237535,
-901.5086886763308,
708.5895420934379
],
"direction": [
0.46960189938545227,
0.7278991937637329,
-0.499636709690094
]
},
{
"camera_id": "b",
"position_m": [
0.3134536976647028,
-0.8923579484022319,
1.20507845611891
],
"position_mm": [
313.4536976647028,
-892.357948402232,
1205.07845611891
],
"direction": [
-0.0005159506108611822,
0.6220897436141968,
-0.7829457521438599
]
},
{
"camera_id": "c",
"position_m": [
0.28752597698377347,
-0.9090323131522682,
0.39592483186863714
],
"position_mm": [
287.5259769837735,
-909.0323131522682,
395.9248318686371
],
"direction": [
-0.09462770819664001,
0.9521815180778503,
-0.29050973057746887
]
}
],
"markers": [
{
"marker_id": 42,
"position_m": [
0.37508435057162637,
-0.1892230619949678,
0.12926208905684378
],
"position_mm": [
375.0843505716264,
-189.2230619949678,
129.26208905684376
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.32977292280145626,
-0.15833608432154828,
0.1391219885153321
],
"position_mm": [
329.7729228014563,
-158.33608432154827,
139.1219885153321
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 62,
"position_m": [
0.40266579649644807,
-0.17359456190865927,
-0.027258238167711897
],
"position_mm": [
402.6657964964481,
-173.59456190865927,
-27.258238167711898
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 122,
"position_m": [
0.36400072380842596,
-0.01780683611740052,
0.2771468849761387
],
"position_mm": [
364.00072380842596,
-17.80683611740052,
277.1468849761387
],
"link": "Arm2",
"normal": [
-1.0,
0.0,
0.0
]
},
{
"marker_id": 124,
"position_m": [
0.36374731504131136,
-0.11703926127154486,
0.21634279987553892
],
"position_mm": [
363.74731504131137,
-117.03926127154486,
216.34279987553893
],
"link": "Arm2",
"normal": [
-1.0,
0.0,
0.0
]
},
{
"marker_id": 210,
"position_m": [
0.020549535520055725,
-0.020119741758463722,
0.00024357679129174292
],
"position_mm": [
20.549535520055723,
-20.11974175846372,
0.24357679129174292
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.25201901072732746,
-0.008784311330488008,
-0.00018975874059174306
],
"position_mm": [
252.01901072732747,
-8.784311330488007,
-0.18975874059174305
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.24930433069482408,
-0.08873819469897419,
-0.00027033569666854096
],
"position_mm": [
249.30433069482407,
-88.73819469897418,
-0.27033569666854096
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
}
]
}