Files
appRobotRender/data/camera_study/Scene6/k3_acg/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

390 lines
7.2 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-02T22:59:25Z",
"summary": {
"num_cameras": 3,
"num_markers": 17,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.29955195892720843,
-0.7973261061142631,
0.8018813702295133
],
"position_mm": [
-299.55195892720843,
-797.3261061142631,
801.8813702295133
],
"direction": [
0.47862082719802856,
0.6562461256980896,
-0.5833207368850708
]
},
{
"camera_id": "c",
"position_m": [
0.31702206513417014,
-0.9009856513305725,
0.39446443494699257
],
"position_mm": [
317.02206513417013,
-900.9856513305725,
394.4644349469926
],
"direction": [
-0.12359802424907684,
0.9488852620124817,
-0.29041391611099243
]
},
{
"camera_id": "g",
"position_m": [
-0.20541655013425003,
0.20379753805366085,
1.3985639899421838
],
"position_mm": [
-205.41655013425003,
203.79753805366084,
1398.5639899421838
],
"direction": [
0.2998085618019104,
-0.2990388870239258,
-0.9059197306632996
]
}
],
"markers": [
{
"marker_id": 51,
"position_m": [
0.16758059037306056,
-0.17348666453909017,
-0.02732229551830986
],
"position_mm": [
167.58059037306055,
-173.48666453909019,
-27.32229551830986
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.3394215419901061,
-0.32753392230888495,
-0.026656229871578122
],
"position_mm": [
339.4215419901061,
-327.53392230888494,
-26.656229871578123
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.40395684038039653,
-0.16868589499438513,
-0.03104302632780774
],
"position_mm": [
403.95684038039656,
-168.68589499438514,
-31.04302632780774
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.01926536202623091,
-0.18994343937654434,
-0.0259694614231022
],
"position_mm": [
-19.26536202623091,
-189.94343937654435,
-25.9694614231022
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.440067528307102,
0.19238427479417014,
-0.026439508760597388
],
"position_mm": [
440.067528307102,
192.38427479417015,
-26.439508760597388
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.3126657008255428,
-0.15881560805192654,
-0.02826580221647134
],
"position_mm": [
312.6657008255428,
-158.81560805192655,
-28.26580221647134
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5067559241126447,
-0.3133241221466227,
-0.027488712007081625
],
"position_mm": [
506.7559241126447,
-313.3241221466227,
-27.488712007081624
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.3603770534691804,
0.2932098187483776,
-0.025476208839526213
],
"position_mm": [
360.3770534691804,
293.2098187483776,
-25.476208839526212
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3709482037978296,
-0.1844068062343958,
-0.0274213086528789
],
"position_mm": [
370.9482037978296,
-184.4068062343958,
-27.4213086528789
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6508360651964283,
-0.22391185802988792,
-0.027405093477040874
],
"position_mm": [
650.8360651964283,
-223.91185802988792,
-27.405093477040875
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.1056748107839848,
-0.18981992976712725,
-0.027934139151425307
],
"position_mm": [
105.6748107839848,
-189.81992976712723,
-27.934139151425306
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 198,
"position_m": [
0.19066102229852058,
-0.03007206414359929,
0.14939467005300539
],
"position_mm": [
190.66102229852058,
-30.07206414359929,
149.3946700530054
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.25113760092885734,
-0.08940184865546073,
0.00028714438024461924
],
"position_mm": [
251.13760092885735,
-89.40184865546074,
0.28714438024461925
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 218,
"position_m": [
0.26783100399266363,
-0.1332716814020988,
0.26178563837145535
],
"position_mm": [
267.8310039926636,
-133.2716814020988,
261.7856383714554
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 243,
"position_m": [
0.1930099113157895,
-0.15778891098792894,
0.15315230150946546
],
"position_mm": [
193.0099113157895,
-157.78891098792894,
153.15230150946547
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.28450748306277285,
-0.15603309813822389,
0.1478735055894891
],
"position_mm": [
284.50748306277285,
-156.0330981382239,
147.8735055894891
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.24719590968004304,
-0.15894216009030798,
0.15024306967127224
],
"position_mm": [
247.19590968004303,
-158.942160090308,
150.24306967127225
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}