Files
appRobotRender/data/camera_study/Scene6/k5_bcefg/aruco_positions_initial.json
2026-06-03 07:04:27 +02:00

845 lines
16 KiB
JSON

{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-02T23:02:25Z",
"summary": {
"num_cameras": 5,
"num_markers": 39,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "b",
"position_m": [
0.30449238671529855,
-0.8931909500442883,
1.2021616686917198
],
"position_mm": [
304.49238671529855,
-893.1909500442882,
1202.1616686917198
],
"direction": [
0.005216329824179411,
0.6232568621635437,
-0.7819998264312744
]
},
{
"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
]
},
{
"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": 41,
"position_m": [
0.28625071698053056,
-0.08494089527971924,
0.44491799542514565
],
"position_mm": [
286.25071698053057,
-84.94089527971924,
444.91799542514565
],
"link": "FingerA",
"normal": [
0.0,
-0.9375276894468237,
0.34791066600565723
]
},
{
"marker_id": 42,
"position_m": [
0.24838392962377034,
-0.08034829770181458,
0.469441123695567
],
"position_mm": [
248.38392962377034,
-80.34829770181457,
469.441123695567
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.2796555198378318,
-0.05354036173117714,
0.45448624492978035
],
"position_mm": [
279.65551983783183,
-53.54036173117714,
454.48624492978036
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 47,
"position_m": [
0.3438904724286077,
-0.28857150620496314,
-0.02708621457173994
],
"position_mm": [
343.8904724286077,
-288.57150620496316,
-27.08621457173994
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 48,
"position_m": [
0.6867820226140496,
-0.31817176768817446,
-0.02759821843552489
],
"position_mm": [
686.7820226140497,
-318.17176768817444,
-27.598218435524892
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16840192155576322,
-0.17337707337689057,
-0.027335354000751037
],
"position_mm": [
168.4019215557632,
-173.37707337689056,
-27.33535400075104
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.4878549583844099,
0.21353604559593412,
-0.027066900009570332
],
"position_mm": [
487.8549583844099,
213.53604559593413,
-27.066900009570332
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.33954938349450847,
-0.3276492451591658,
-0.027365052753995082
],
"position_mm": [
339.54938349450845,
-327.64924515916584,
-27.365052753995084
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28474343265314894,
-0.2611146142364723,
-0.027119922588919907
],
"position_mm": [
284.74343265314894,
-261.11461423647233,
-27.119922588919906
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.047585194365194185,
-0.21632314961273078,
-0.027187528797273527
],
"position_mm": [
47.585194365194184,
-216.3231496127308,
-27.187528797273526
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.6276776104211576,
-0.2769890771589083,
-0.027179490084843043
],
"position_mm": [
627.6776104211575,
-276.9890771589083,
-27.179490084843042
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.402105132284596,
-0.17292809022957925,
-0.027265682415016396
],
"position_mm": [
402.105132284596,
-172.92809022957925,
-27.265682415016396
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7749864202265669,
-0.23633612102871054,
-0.027607524478283806
],
"position_mm": [
774.9864202265669,
-236.33612102871055,
-27.607524478283807
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.01790362315803115,
-0.18911978899078447,
-0.02682192467701046
],
"position_mm": [
-17.903623158031152,
-189.11978899078446,
-26.821924677010458
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 66,
"position_m": [
0.20973171859279857,
-0.36364694200408465,
-0.027239526476849428
],
"position_mm": [
209.73171859279856,
-363.6469420040846,
-27.239526476849427
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 68,
"position_m": [
0.5752058652830718,
0.17338329135149888,
-0.028213186708784838
],
"position_mm": [
575.2058652830718,
173.38329135149888,
-28.21318670878484
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.006360758342646042,
-0.27780240447319754,
-0.026798093755910034
],
"position_mm": [
6.360758342646042,
-277.80240447319756,
-26.798093755910035
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 71,
"position_m": [
0.7509316849096249,
-0.2854641858169035,
-0.026838361300171424
],
"position_mm": [
750.9316849096249,
-285.4641858169035,
-26.838361300171425
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.44120571598828817,
0.19305451359934545,
-0.027433486161578712
],
"position_mm": [
441.20571598828815,
193.05451359934546,
-27.433486161578713
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 75,
"position_m": [
-0.0263660506698721,
0.19124466355138656,
-0.025667772677626623
],
"position_mm": [
-26.366050669872102,
191.24466355138657,
-25.667772677626623
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.31179117488803276,
-0.15951234701714542,
-0.027866865515992996
],
"position_mm": [
311.79117488803274,
-159.51234701714543,
-27.866865515992995
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5066889610444935,
-0.3137418311916914,
-0.027138874735902405
],
"position_mm": [
506.68896104449345,
-313.7418311916914,
-27.138874735902405
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.3615626248018839,
0.29351791015622114,
-0.026395704140364237
],
"position_mm": [
361.5626248018839,
293.51791015622115,
-26.395704140364238
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6467723175828066,
-0.18683923575461397,
-0.0273348527803829
],
"position_mm": [
646.7723175828066,
-186.83923575461398,
-27.3348527803829
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18696623226835252,
-0.27692039012844116,
-0.027042252432288985
],
"position_mm": [
186.9662322683525,
-276.92039012844117,
-27.042252432288986
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.37228139768193613,
-0.1844101964268814,
-0.027747663088679396
],
"position_mm": [
372.28139768193614,
-184.41019642688138,
-27.747663088679396
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6508611531167402,
-0.22358563977009405,
-0.027649244754054416
],
"position_mm": [
650.8611531167402,
-223.58563977009405,
-27.649244754054415
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10549754177791111,
-0.19077139567966242,
-0.026990061408992426
],
"position_mm": [
105.49754177791111,
-190.77139567966242,
-26.990061408992425
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.30755744407692664,
-0.11045777680670277,
0.3299426445565711
],
"position_mm": [
307.55744407692663,
-110.45777680670277,
329.94264455657105
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 198,
"position_m": [
0.19116428992797635,
-0.029740632679746675,
0.14903820613668914
],
"position_mm": [
191.16428992797634,
-29.740632679746675,
149.03820613668913
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 206,
"position_m": [
0.6509505774083794,
-0.009575567341837054,
0.00013070564748079156
],
"position_mm": [
650.9505774083793,
-9.575567341837054,
0.13070564748079155
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.3524515361877647,
-0.08947391748672545,
0.0008129981954070794
],
"position_mm": [
352.4515361877647,
-89.47391748672545,
0.8129981954070794
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.022494569778695465,
-0.020944186821297416,
0.001429535675896489
],
"position_mm": [
22.494569778695464,
-20.944186821297414,
1.429535675896489
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.3485588484634568,
-0.011297509890123953,
0.0006472667819514932
],
"position_mm": [
348.5588484634568,
-11.297509890123953,
0.6472667819514932
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.25096546278076554,
-0.08892455382197825,
0.00026225521156614094
],
"position_mm": [
250.96546278076553,
-88.92455382197825,
0.26225521156614096
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.18709435481360254,
-0.11543335401988593,
0.18364649552247014
],
"position_mm": [
187.09435481360254,
-115.43335401988593,
183.64649552247013
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 243,
"position_m": [
0.18897755471597275,
-0.1603737776905491,
0.15534509744163802
],
"position_mm": [
188.97755471597276,
-160.3737776905491,
155.34509744163802
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.2780321093805083,
-0.1611142084248059,
0.15167820548439595
],
"position_mm": [
278.0321093805083,
-161.1142084248059,
151.67820548439596
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.24632519736685796,
-0.16106480075514476,
0.15284823840523934
],
"position_mm": [
246.32519736685796,
-161.06480075514477,
152.84823840523933
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}