Files
appRobotRender/data/camera_study/Scene6/k7_abcdefg/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

1108 lines
21 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-03T04:17:00Z",
"summary": {
"num_cameras": 7,
"num_markers": 51,
"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": "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": "d",
"position_m": [
0.7054014679839464,
-0.7919478105063438,
0.3967113315257853
],
"position_mm": [
705.4014679839464,
-791.9478105063438,
396.7113315257853
],
"direction": [
-0.5578631162643433,
0.781220555305481,
-0.28014856576919556
]
},
{
"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": [
0.28458781368035735,
-0.0831295553036194,
0.44099400275026257
],
"position_mm": [
284.5878136803573,
-83.1295553036194,
440.99400275026255
],
"link": "FingerA",
"normal": [
0.0,
-0.9375276894468237,
0.34791066600565723
]
},
{
"marker_id": 42,
"position_m": [
0.24826921739025368,
-0.08131835237489168,
0.4714228231931771
],
"position_mm": [
248.2692173902537,
-81.31835237489169,
471.42282319317707
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.27925054476440797,
-0.05336678805033148,
0.45442142821091286
],
"position_mm": [
279.25054476440795,
-53.36678805033148,
454.42142821091284
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 47,
"position_m": [
0.3443367908980768,
-0.28548752470734884,
-0.02943923611507447
],
"position_mm": [
344.3367908980768,
-285.4875247073488,
-29.439236115074472
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 48,
"position_m": [
0.6873658605919859,
-0.3189658329698259,
-0.027180938447351352
],
"position_mm": [
687.3658605919859,
-318.9658329698259,
-27.180938447351352
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16804549251560044,
-0.17358975119284578,
-0.02728323717570127
],
"position_mm": [
168.04549251560044,
-173.58975119284577,
-27.28323717570127
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.4870981186099572,
0.21324392656811147,
-0.025771052851902475
],
"position_mm": [
487.0981186099572,
213.24392656811148,
-25.771052851902475
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.3402121368075054,
-0.32927158720856387,
-0.02625035982439783
],
"position_mm": [
340.2121368075054,
-329.27158720856386,
-26.25035982439783
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28417822960026157,
-0.2607592098515706,
-0.027203816169614602
],
"position_mm": [
284.17822960026155,
-260.7592098515706,
-27.2038161696146
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04905415019520021,
-0.2174777115056346,
-0.026165206013923557
],
"position_mm": [
49.05415019520021,
-217.4777115056346,
-26.165206013923555
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.62489214192024,
-0.27699531939359967,
-0.028040322279414047
],
"position_mm": [
624.89214192024,
-276.9953193935997,
-28.040322279414045
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.40446593597058633,
-0.17287052080641774,
-0.02813911971181078
],
"position_mm": [
404.4659359705863,
-172.87052080641774,
-28.139119711810782
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7749325422612298,
-0.23629850383139525,
-0.02771036694546885
],
"position_mm": [
774.9325422612297,
-236.29850383139524,
-27.71036694546885
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.02192295564745397,
-0.1867951132390801,
-0.028586798788759273
],
"position_mm": [
-21.92295564745397,
-186.7951132390801,
-28.586798788759275
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 66,
"position_m": [
0.20966456299931194,
-0.3648450545895993,
-0.027096105913837994
],
"position_mm": [
209.66456299931193,
-364.84505458959933,
-27.096105913837995
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 68,
"position_m": [
0.5745459984904546,
0.17330993708877782,
-0.027022995267236716
],
"position_mm": [
574.5459984904546,
173.30993708877782,
-27.022995267236716
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.005010158141969213,
-0.2794824457290163,
-0.027453538754954217
],
"position_mm": [
5.010158141969213,
-279.4824457290163,
-27.453538754954216
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 71,
"position_m": [
0.7504133317302832,
-0.2858059932267028,
-0.026001951875344625
],
"position_mm": [
750.4133317302833,
-285.8059932267028,
-26.001951875344627
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.4424377710387681,
0.19410251982722543,
-0.02871344882512454
],
"position_mm": [
442.43777103876806,
194.10251982722542,
-28.71344882512454
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 75,
"position_m": [
-0.027139366474093173,
0.19225261874103702,
-0.026963574096053503
],
"position_mm": [
-27.139366474093173,
192.25261874103703,
-26.963574096053502
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 76,
"position_m": [
0.6859176384880118,
0.16715215166853903,
-0.026036594545022024
],
"position_mm": [
685.9176384880118,
167.15215166853903,
-26.036594545022023
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.3123552741632557,
-0.15856518643582393,
-0.027413331403551594
],
"position_mm": [
312.35527416325573,
-158.56518643582393,
-27.413331403551595
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 83,
"position_m": [
0.04564290947696477,
0.3406062865863538,
-0.02700234437759279
],
"position_mm": [
45.64290947696477,
340.6062865863538,
-27.00234437759279
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5065834167734267,
-0.31335134801494025,
-0.0274143053221702
],
"position_mm": [
506.5834167734267,
-313.35134801494024,
-27.4143053221702
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.36115549142364367,
0.29355939832817507,
-0.02608989401626787
],
"position_mm": [
361.1554914236437,
293.55939832817506,
-26.08989401626787
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6462294477906607,
-0.18477517644480898,
-0.02814325601900272
],
"position_mm": [
646.2294477906607,
-184.77517644480898,
-28.14325601900272
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 94,
"position_m": [
0.8729828258821126,
0.17487150020713668,
-0.02745946858422091
],
"position_mm": [
872.9828258821126,
174.87150020713668,
-27.459468584220907
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.1866155583385665,
-0.2755171917238502,
-0.028064925651942588
],
"position_mm": [
186.6155583385665,
-275.5171917238502,
-28.064925651942588
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.37001681726556546,
-0.18552000970824895,
-0.02638610042784995
],
"position_mm": [
370.01681726556546,
-185.52000970824895,
-26.38610042784995
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 97,
"position_m": [
0.304167955254576,
-0.3605328483497426,
-0.023582818584801504
],
"position_mm": [
304.16795525457604,
-360.5328483497426,
-23.582818584801505
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6517794539755785,
-0.22280701264168837,
-0.027797286051991846
],
"position_mm": [
651.7794539755785,
-222.80701264168837,
-27.797286051991847
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10615910898605672,
-0.19000501656289864,
-0.027574446192718444
],
"position_mm": [
106.15910898605672,
-190.00501656289865,
-27.574446192718444
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 105,
"position_m": [
0.5234111465053786,
-0.26556011008841507,
-0.029769201527814763
],
"position_mm": [
523.4111465053786,
-265.56011008841506,
-29.76920152781476
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.3093429775846916,
-0.11221288829114047,
0.3275756587007305
],
"position_mm": [
309.3429775846916,
-112.21288829114047,
327.5756587007305
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 198,
"position_m": [
0.19113330229195769,
-0.030543535133057586,
0.14984187503104932
],
"position_mm": [
191.13330229195768,
-30.543535133057585,
149.8418750310493
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 206,
"position_m": [
0.651220131071122,
-0.009958017925349557,
0.00018969638322051228
],
"position_mm": [
651.220131071122,
-9.958017925349557,
0.18969638322051227
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 207,
"position_m": [
0.7511622201513376,
-0.013049826898611902,
0.0016116000167501357
],
"position_mm": [
751.1622201513376,
-13.049826898611903,
1.6116000167501356
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.3520822636125896,
-0.09099951461364728,
0.0011508033442671377
],
"position_mm": [
352.0822636125896,
-90.99951461364728,
1.1508033442671377
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.022039235282496364,
-0.01938898515189703,
-0.0001471437322184511
],
"position_mm": [
22.039235282496364,
-19.38898515189703,
-0.1471437322184511
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.2521736879307108,
-0.008659645548632916,
0.0001765726889967646
],
"position_mm": [
252.17368793071083,
-8.659645548632916,
0.1765726889967646
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.3477567833776194,
-0.011119557969000377,
0.00045652209858710506
],
"position_mm": [
347.7567833776194,
-11.119557969000377,
0.4565220985871051
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.25090101713265517,
-0.08864942268116975,
5.3066156169110985e-05
],
"position_mm": [
250.90101713265517,
-88.64942268116975,
0.053066156169110985
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 217,
"position_m": [
0.64689697488583,
-0.08983861012781585,
-0.0004466118621018148
],
"position_mm": [
646.89697488583,
-89.83861012781585,
-0.4466118621018148
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 218,
"position_m": [
0.26689118731231487,
-0.13622368239641913,
0.2625476482906093
],
"position_mm": [
266.89118731231486,
-136.22368239641912,
262.5476482906093
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 219,
"position_m": [
0.2618106158923365,
-0.11519011144978505,
0.36884553845714513
],
"position_mm": [
261.8106158923365,
-115.19011144978505,
368.84553845714515
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 229,
"position_m": [
0.186063139377048,
-0.11584595444624358,
0.17808714356263752
],
"position_mm": [
186.063139377048,
-115.84595444624358,
178.08714356263752
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 232,
"position_m": [
0.28067774248418176,
-0.15626363865129914,
0.1254568514711345
],
"position_mm": [
280.67774248418175,
-156.26363865129915,
125.4568514711345
],
"link": "Ellbow",
"normal": [
0.0,
0.7071067811865475,
-0.7071067811865475
]
},
{
"marker_id": 243,
"position_m": [
0.19183442127866512,
-0.158751075385639,
0.15408998954477135
],
"position_mm": [
191.83442127866513,
-158.751075385639,
154.08998954477136
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 244,
"position_m": [
0.31613342671743433,
-0.126703965345485,
0.14270774070263362
],
"position_mm": [
316.1334267174343,
-126.703965345485,
142.70774070263363
],
"link": "Ellbow",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.2833284600656872,
-0.16275701628608866,
0.15131089719053498
],
"position_mm": [
283.3284600656872,
-162.75701628608866,
151.31089719053497
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.24598439423851307,
-0.15941828631902627,
0.15060845733151507
],
"position_mm": [
245.98439423851306,
-159.41828631902627,
150.60845733151507
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}