Files
appRobotRender/data/camera_study/Scene5/k3_cdg/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

295 lines
5.6 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-02T22:56:07Z",
"summary": {
"num_cameras": 3,
"num_markers": 12,
"num_constraints": 94
},
"cameras": [
{
"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
]
},
{
"camera_id": "d",
"position_m": [
0.6979996741933059,
-0.7964402797652452,
0.3976766679364876
],
"position_mm": [
697.9996741933059,
-796.4402797652452,
397.6766679364876
],
"direction": [
-0.5500041842460632,
0.7863377332687378,
-0.28136876225471497
]
},
{
"camera_id": "g",
"position_m": [
-0.19511158023378877,
0.21807120467829932,
1.4054723322580496
],
"position_mm": [
-195.11158023378877,
218.07120467829932,
1405.4723322580496
],
"direction": [
0.29194176197052,
-0.3066600561141968,
-0.9059413075447083
]
}
],
"markers": [
{
"marker_id": 42,
"position_m": [
0.375596099730229,
-0.17936599098333716,
0.12638611347082293
],
"position_mm": [
375.596099730229,
-179.36599098333716,
126.38611347082293
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.32984243187895457,
-0.145525957569116,
0.1360378399190006
],
"position_mm": [
329.8424318789546,
-145.52595756911597,
136.0378399190006
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 58,
"position_m": [
0.048985111919299,
-0.21852767281440702,
-0.026074997673769505
],
"position_mm": [
48.985111919299,
-218.52767281440703,
-26.074997673769506
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.02163614939332962,
-0.18700617727214783,
-0.028096961765773174
],
"position_mm": [
-21.63614939332962,
-187.00617727214782,
-28.096961765773173
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.440578386413442,
0.19377105953011733,
-0.027551746895875914
],
"position_mm": [
440.578386413442,
193.77105953011733,
-27.551746895875915
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10593277744382584,
-0.19070560488597538,
-0.02687151844448769
],
"position_mm": [
105.93277744382584,
-190.7056048859754,
-26.87151844448769
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 122,
"position_m": [
0.36330887085029373,
-0.016927866283313518,
0.27519665526368525
],
"position_mm": [
363.3088708502937,
-16.927866283313517,
275.1966552636853
],
"link": "Arm2",
"normal": [
-1.0,
0.0,
0.0
]
},
{
"marker_id": 208,
"position_m": [
0.3517320626848221,
-0.09036251928052168,
0.0006846739405466545
],
"position_mm": [
351.7320626848221,
-90.36251928052168,
0.6846739405466544
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.019955356065729835,
-0.018837974968773152,
-0.0006031123259841284
],
"position_mm": [
19.955356065729834,
-18.837974968773153,
-0.6031123259841285
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.252052880728571,
-0.00805837702050402,
-0.0003405856435084801
],
"position_mm": [
252.052880728571,
-8.05837702050402,
-0.3405856435084801
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.34747473709085114,
-0.010478528542360251,
3.5442210046583504e-05
],
"position_mm": [
347.47473709085114,
-10.478528542360252,
0.0354422100465835
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.24938483868856107,
-0.08801387227761061,
-0.00035725079098712816
],
"position_mm": [
249.38483868856108,
-88.0138722776106,
-0.35725079098712814
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
}
]
}