Files
appRobotRender/data/camera_study/Scene5/k4_cdfg/aruco_positions_initial.json
2026-06-03 07:04:27 +02:00

542 lines
10 KiB
JSON

{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-02T22:56:59Z",
"summary": {
"num_cameras": 4,
"num_markers": 24,
"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": "f",
"position_m": [
0.4760185441234359,
-0.29875310533250987,
1.4075692591478004
],
"position_mm": [
476.0185441234359,
-298.75310533250985,
1407.5692591478005
],
"direction": [
-0.2208399474620819,
0.08048706501722336,
-0.9719833135604858
]
},
{
"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": [
0.3752629893466495,
-0.1819180934775004,
0.12725860280513013
],
"position_mm": [
375.2629893466495,
-181.9180934775004,
127.25860280513012
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.32954115801695694,
-0.14866881948244773,
0.13725489847105254
],
"position_mm": [
329.54115801695696,
-148.66881948244773,
137.25489847105254
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 46,
"position_m": [
0.5354229948640983,
0.1834923604338253,
-0.029314640317847387
],
"position_mm": [
535.4229948640983,
183.4923604338253,
-29.314640317847388
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.1681970269801468,
-0.17322616271110863,
-0.026760189192961605
],
"position_mm": [
168.1970269801468,
-173.22616271110863,
-26.760189192961604
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.4887734265731395,
0.21521272885996426,
-0.02803148541851938
],
"position_mm": [
488.7734265731395,
215.21272885996427,
-28.03148541851938
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.3400630306745392,
-0.32802227804657164,
-0.026858845527849864
],
"position_mm": [
340.06303067453916,
-328.0222780465716,
-26.858845527849862
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 56,
"position_m": [
0.500525827172982,
0.16584708160735323,
-0.02746725667995181
],
"position_mm": [
500.525827172982,
165.84708160735323,
-27.46725667995181
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04766885954345436,
-0.21664987665919702,
-0.02688042236868293
],
"position_mm": [
47.66885954345436,
-216.64987665919702,
-26.88042236868293
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.018901204522543243,
-0.1892159577167411,
-0.026992144308884698
],
"position_mm": [
-18.901204522543242,
-189.2159577167411,
-26.992144308884697
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 66,
"position_m": [
0.2100002060242087,
-0.36381189002465564,
-0.025238883462810304
],
"position_mm": [
210.00020602420872,
-363.8118900246556,
-25.238883462810303
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.0060766392604838316,
-0.2774282611119854,
-0.025640507888119998
],
"position_mm": [
6.076639260483832,
-277.42826111198536,
-25.64050788812
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.44065088438255495,
0.19380003908611382,
-0.02751294796891142
],
"position_mm": [
440.650884382555,
193.80003908611383,
-27.51294796891142
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10470665303802279,
-0.19060941476407559,
-0.027165494682787488
],
"position_mm": [
104.7066530380228,
-190.60941476407558,
-27.16549468278749
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.4040106854438448,
-0.06631101215316983,
0.21910300327444907
],
"position_mm": [
404.01068544384475,
-66.31101215316983,
219.10300327444907
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 122,
"position_m": [
0.3614555892635531,
-0.018727488012477297,
0.27759956178497674
],
"position_mm": [
361.45558926355307,
-18.7274880124773,
277.59956178497674
],
"link": "Arm2",
"normal": [
-1.0,
0.0,
0.0
]
},
{
"marker_id": 124,
"position_m": [
0.3629328340540459,
-0.10775104994644964,
0.21616943794256835
],
"position_mm": [
362.93283405404594,
-107.75104994644964,
216.16943794256835
],
"link": "Arm2",
"normal": [
-1.0,
0.0,
0.0
]
},
{
"marker_id": 208,
"position_m": [
0.35138300799336986,
-0.08851793840769491,
-0.0002153159967444438
],
"position_mm": [
351.38300799336986,
-88.51793840769491,
-0.21531599674444382
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.02086177930348826,
-0.02048520286624399,
0.00018223694319027453
],
"position_mm": [
20.86177930348826,
-20.48520286624399,
0.18223694319027453
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.2520760748392414,
-0.008145462326466086,
-0.0003026763867267859
],
"position_mm": [
252.0760748392414,
-8.145462326466086,
-0.3026763867267859
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.3479451823523383,
-0.013057365587771095,
0.0011880348026424852
],
"position_mm": [
347.9451823523383,
-13.057365587771095,
1.1880348026424852
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.2506029555776179,
-0.08838550942620217,
0.00027097862827277957
],
"position_mm": [
250.6029555776179,
-88.38550942620218,
0.2709786282727796
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 231,
"position_m": [
0.3769463508837287,
0.1032157077749787,
0.3495146657219196
],
"position_mm": [
376.9463508837287,
103.2157077749787,
349.5146657219196
],
"link": "Ellbow",
"normal": [
0.0,
0.7071067811865475,
0.7071067811865475
]
},
{
"marker_id": 243,
"position_m": [
0.28730837951081073,
0.08689330140476789,
0.350643937667989
],
"position_mm": [
287.3083795108107,
86.8933014047679,
350.643937667989
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 247,
"position_m": [
0.33864119269688137,
0.07582320170908316,
0.3461810992320082
],
"position_mm": [
338.6411926968814,
75.82320170908316,
346.1810992320082
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
}
]
}