Files
appRobotRender/data/camera_study/Scene7/k3_bcf/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

352 lines
6.6 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-03T04:17:52Z",
"summary": {
"num_cameras": 3,
"num_markers": 15,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "b",
"position_m": [
0.3032776168602546,
-0.9034907966109161,
1.1914760495863213
],
"position_mm": [
303.2776168602546,
-903.4907966109162,
1191.4760495863213
],
"direction": [
0.005841582547873259,
0.630989134311676,
-0.7757696509361267
]
},
{
"camera_id": "c",
"position_m": [
0.31352477320154787,
-0.900364134663362,
0.395486087669763
],
"position_mm": [
313.5247732015479,
-900.3641346633619,
395.48608766976304
],
"direction": [
-0.12002504616975784,
0.9488678574562073,
-0.2919653058052063
]
},
{
"camera_id": "f",
"position_m": [
0.4840985781070297,
-0.3107642971811879,
1.4024590280841054
],
"position_mm": [
484.0985781070297,
-310.76429718118794,
1402.4590280841053
],
"direction": [
-0.22673296928405762,
0.08821365982294083,
-0.9699538946151733
]
}
],
"markers": [
{
"marker_id": 44,
"position_m": [
0.2383384374504039,
-0.1724605465749844,
0.3262411586782854
],
"position_mm": [
238.3384374504039,
-172.46054657498442,
326.2411586782854
],
"link": "FingerB",
"normal": [
0.0,
-0.9375276894468237,
-0.34791066600565723
]
},
{
"marker_id": 54,
"position_m": [
0.34004508894650554,
-0.32813336207958343,
-0.026923635670622875
],
"position_mm": [
340.04508894650553,
-328.13336207958343,
-26.923635670622875
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04890209951774318,
-0.21801362525660423,
-0.026006470378875306
],
"position_mm": [
48.90209951774318,
-218.01362525660423,
-26.006470378875306
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.40351479951587743,
-0.1703994863332035,
-0.029675825117847034
],
"position_mm": [
403.5147995158774,
-170.3994863332035,
-29.675825117847033
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.021612653077209838,
-0.18632498767490854,
-0.02893095733224053
],
"position_mm": [
-21.61265307720984,
-186.32498767490856,
-28.93095733224053
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.007337283833850925,
-0.281582553136417,
-0.021822346642823773
],
"position_mm": [
7.3372838338509245,
-281.582553136417,
-21.822346642823774
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.31273674280074726,
-0.1596131843922935,
-0.02727734911139616
],
"position_mm": [
312.73674280074727,
-159.6131843922935,
-27.27734911139616
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18714071438169871,
-0.2774602954313029,
-0.027059384418596406
],
"position_mm": [
187.1407143816987,
-277.4602954313029,
-27.059384418596405
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3705569572820918,
-0.1862153725139037,
-0.026005855469843617
],
"position_mm": [
370.5569572820918,
-186.21537251390367,
-26.005855469843617
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10592369008971907,
-0.19037589986462616,
-0.027564975625379424
],
"position_mm": [
105.92369008971906,
-190.37589986462618,
-27.564975625379425
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 120,
"position_m": [
0.26353844217995126,
-0.15477350447982346,
0.16557286387516715
],
"position_mm": [
263.53844217995123,
-154.77350447982346,
165.57286387516714
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 208,
"position_m": [
0.35226708250749167,
-0.09182276137314035,
0.0010256489260326602
],
"position_mm": [
352.2670825074917,
-91.82276137314035,
1.0256489260326602
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.021083532073009625,
-0.01888111075943459,
0.0011668722478305705
],
"position_mm": [
21.083532073009625,
-18.88111075943459,
1.1668722478305704
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.3476495621864738,
-0.011958386734731229,
0.0004264314374080943
],
"position_mm": [
347.6495621864738,
-11.958386734731228,
0.4264314374080943
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.13863763136700424,
-0.14354420558576186,
0.08795646682912547
],
"position_mm": [
138.63763136700425,
-143.54420558576186,
87.95646682912547
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
}
]
}