Files
appRobotRender/data/camera_study/Scene6/k4_acef/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

655 lines
12 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-02T23:00:37Z",
"summary": {
"num_cameras": 4,
"num_markers": 30,
"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": "e",
"position_m": [
1.2003205157992303,
-0.9051194632262202,
0.40226793640946296
],
"position_mm": [
1200.3205157992302,
-905.1194632262202,
402.26793640946295
],
"direction": [
-0.7470906376838684,
0.6093959212303162,
-0.26550355553627014
]
},
{
"camera_id": "f",
"position_m": [
0.48085701508868617,
-0.3026928145345371,
1.4042255506450263
],
"position_mm": [
480.8570150886862,
-302.6928145345371,
1404.2255506450263
],
"direction": [
-0.22449733316898346,
0.08296965062618256,
-0.970936119556427
]
}
],
"markers": [
{
"marker_id": 47,
"position_m": [
0.3442727275313084,
-0.28563265210995914,
-0.028903460500455336
],
"position_mm": [
344.27272753130836,
-285.63265210995917,
-28.903460500455335
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16757455532623117,
-0.173715682225372,
-0.027191532898232524
],
"position_mm": [
167.57455532623118,
-173.715682225372,
-27.191532898232524
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.3403562369848522,
-0.32946868348008074,
-0.026203257800513795
],
"position_mm": [
340.35623698485216,
-329.46868348008076,
-26.203257800513796
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.2841596411500174,
-0.2607513830814064,
-0.027206909570481972
],
"position_mm": [
284.1596411500174,
-260.7513830814064,
-27.206909570481972
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.049406408188943735,
-0.2189875675613123,
-0.02526880121718062
],
"position_mm": [
49.406408188943736,
-218.9875675613123,
-25.26880121718062
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4036684237633855,
-0.17119333082774163,
-0.029012076369305268
],
"position_mm": [
403.66842376338553,
-171.19333082774162,
-29.01207636930527
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.021061821906356772,
-0.18717435271127986,
-0.02795299876827372
],
"position_mm": [
-21.061821906356773,
-187.17435271127985,
-27.95299876827372
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 66,
"position_m": [
0.2096512466476601,
-0.3648732103214637,
-0.02710726643464247
],
"position_mm": [
209.65124664766012,
-364.8732103214637,
-27.10726643464247
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.44159074047447694,
0.19419515195952314,
-0.028107687787151468
],
"position_mm": [
441.59074047447695,
194.19515195952314,
-28.10768778715147
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 75,
"position_m": [
-0.0273339060041464,
0.1920370128311326,
-0.02675940930780586
],
"position_mm": [
-27.3339060041464,
192.03701283113259,
-26.759409307805857
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.312475997325041,
-0.15846916383835796,
-0.02827308517958183
],
"position_mm": [
312.475997325041,
-158.46916383835796,
-28.273085179581827
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 83,
"position_m": [
0.045642909475167026,
0.3406062865859235,
-0.02700234437730622
],
"position_mm": [
45.64290947516702,
340.6062865859235,
-27.00234437730622
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5061328289201659,
-0.3136905415464629,
-0.02725379883457556
],
"position_mm": [
506.1328289201659,
-313.6905415464629,
-27.253798834575562
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.646417687471175,
-0.18608520451707886,
-0.027687784063995052
],
"position_mm": [
646.417687471175,
-186.08520451707886,
-27.687784063995053
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18635800560202806,
-0.2756056060332531,
-0.027725209164430754
],
"position_mm": [
186.35800560202807,
-275.60560603325314,
-27.725209164430755
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3700023024822364,
-0.18566359914440458,
-0.02636081644634863
],
"position_mm": [
370.0023024822364,
-185.66359914440457,
-26.36081644634863
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 97,
"position_m": [
0.3041527057937211,
-0.360547257743644,
-0.023559075419031232
],
"position_mm": [
304.1527057937211,
-360.54725774364397,
-23.55907541903123
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6515413251589869,
-0.22417537140664942,
-0.027205972809535305
],
"position_mm": [
651.5413251589869,
-224.17537140664942,
-27.205972809535304
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10559610868225444,
-0.18976872219919627,
-0.027861277082782434
],
"position_mm": [
105.59610868225444,
-189.76872219919628,
-27.861277082782433
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.3111717470835545,
-0.11409235775604246,
0.328561608468459
],
"position_mm": [
311.1717470835545,
-114.09235775604246,
328.561608468459
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 206,
"position_m": [
0.6509575595206526,
-0.009085584876525558,
4.360342375435185e-05
],
"position_mm": [
650.9575595206526,
-9.085584876525557,
0.04360342375435185
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.3513302980916535,
-0.09061651350544654,
0.0008062828643018231
],
"position_mm": [
351.3302980916535,
-90.61651350544655,
0.806282864301823
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.0218903321724089,
-0.019452734492593923,
0.00016943569060737788
],
"position_mm": [
21.8903321724089,
-19.452734492593923,
0.16943569060737787
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.34780762313578883,
-0.01069660212428115,
0.00017541422263981783
],
"position_mm": [
347.80762313578884,
-10.696602124281151,
0.17541422263981785
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.25108062372292156,
-0.08884948898629769,
6.336859728067167e-05
],
"position_mm": [
251.08062372292156,
-88.84948898629769,
0.06336859728067167
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 218,
"position_m": [
0.2678310039923197,
-0.13327168140741535,
0.26178563837390184
],
"position_mm": [
267.83100399231967,
-133.27168140741534,
261.78563837390186
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 229,
"position_m": [
0.18482636173011663,
-0.11648296439309173,
0.17930891934523666
],
"position_mm": [
184.82636173011662,
-116.48296439309173,
179.30891934523666
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 243,
"position_m": [
0.19231964832278434,
-0.15836821060990805,
0.15402079313338124
],
"position_mm": [
192.31964832278433,
-158.36821060990806,
154.02079313338123
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.2838164691146354,
-0.16129107030095038,
0.15035032323768746
],
"position_mm": [
283.81646911463537,
-161.2910703009504,
150.35032323768746
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.24640300163438222,
-0.15875076204247807,
0.15038878642956544
],
"position_mm": [
246.40300163438224,
-158.75076204247807,
150.38878642956544
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}