Files
appRobotRender/data/camera_study/Scene7/k3_def/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

466 lines
8.8 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-03T04:17:41Z",
"summary": {
"num_cameras": 3,
"num_markers": 21,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "d",
"position_m": [
0.7053726989327014,
-0.7916993791931249,
0.39580877555507565
],
"position_mm": [
705.3726989327014,
-791.699379193125,
395.80877555507567
],
"direction": [
-0.5581956505775452,
0.7812879085540771,
-0.2792970836162567
]
},
{
"camera_id": "e",
"position_m": [
1.204669017179544,
-0.9015972134086692,
0.40396820989135496
],
"position_mm": [
1204.669017179544,
-901.5972134086692,
403.96820989135495
],
"direction": [
-0.7505777478218079,
0.6045735478401184,
-0.26669058203697205
]
},
{
"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": 40,
"position_m": [
0.2766563425535481,
-0.15736103587924,
0.3528295699617187
],
"position_mm": [
276.6563425535481,
-157.36103587924,
352.82956996171873
],
"link": "FingerA",
"normal": [
-0.4224220616915755,
0.0,
-0.9063992507699015
]
},
{
"marker_id": 44,
"position_m": [
0.23556911643252706,
-0.17026859457860558,
0.3250519566819013
],
"position_mm": [
235.56911643252707,
-170.2685945786056,
325.0519566819013
],
"link": "FingerB",
"normal": [
0.0,
-0.9375276894468237,
-0.34791066600565723
]
},
{
"marker_id": 54,
"position_m": [
0.33947233306218005,
-0.32871618389891555,
-0.027698800200759332
],
"position_mm": [
339.47233306218004,
-328.7161838989156,
-27.698800200759333
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.048288200683696936,
-0.21597033936144394,
-0.02730634253358065
],
"position_mm": [
48.288200683696935,
-215.97033936144393,
-27.30634253358065
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.404463746184115,
-0.1740130845806203,
-0.025923973233635614
],
"position_mm": [
404.463746184115,
-174.01308458062027,
-25.923973233635614
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.02336963302229533,
-0.18694077162665065,
-0.030044375440994815
],
"position_mm": [
-23.36963302229533,
-186.94077162665064,
-30.044375440994816
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.005573735178647186,
-0.27891167002502393,
-0.02738982644919082
],
"position_mm": [
5.573735178647186,
-278.9116700250239,
-27.38982644919082
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.3116791885593828,
-0.1584425390968733,
-0.026916666925404054
],
"position_mm": [
311.6791885593828,
-158.4425390968733,
-26.916666925404055
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18760475355700412,
-0.2765543935173156,
-0.02690518264351375
],
"position_mm": [
187.60475355700413,
-276.5543935173156,
-26.90518264351375
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.36950661762806036,
-0.1850087820869201,
-0.02855560423378229
],
"position_mm": [
369.5066176280604,
-185.0087820869201,
-28.55560423378229
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10701146405359982,
-0.1921441548036077,
-0.02603034178725644
],
"position_mm": [
107.01146405359982,
-192.1441548036077,
-26.03034178725644
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 114,
"position_m": [
0.2788820969363465,
-0.16881605951713632,
0.23988383204859645
],
"position_mm": [
278.8820969363465,
-168.81605951713632,
239.88383204859645
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 120,
"position_m": [
0.30097287065241135,
-0.204037074417388,
0.18356775891676946
],
"position_mm": [
300.97287065241136,
-204.037074417388,
183.56775891676946
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 208,
"position_m": [
0.35282583228434655,
-0.09175451135632316,
0.0017000082266036246
],
"position_mm": [
352.8258322843466,
-91.75451135632316,
1.7000082266036245
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.3474930218725652,
-0.011937739902426,
0.0007820066318504493
],
"position_mm": [
347.4930218725652,
-11.937739902426,
0.7820066318504493
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.25020399781103636,
-0.0884932775547304,
0.0004172196494334075
],
"position_mm": [
250.20399781103637,
-88.4932775547304,
0.41721964943340745
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 219,
"position_m": [
0.27992854457206545,
-0.13989051415538936,
0.27522288179735666
],
"position_mm": [
279.92854457206545,
-139.89051415538935,
275.22288179735665
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 243,
"position_m": [
0.1460842835471512,
-0.1818570202321484,
0.049276693712508285
],
"position_mm": [
146.0842835471512,
-181.8570202321484,
49.27669371250828
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 244,
"position_m": [
0.22503919897854585,
-0.09203964100344947,
0.023423221732330107
],
"position_mm": [
225.03919897854584,
-92.03964100344947,
23.423221732330106
],
"link": "Ellbow",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.20031946298808903,
-0.13442645551277177,
0.029929172375435232
],
"position_mm": [
200.31946298808904,
-134.42645551277178,
29.929172375435233
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.16422568955525857,
-0.14341079534508264,
0.034699897420885265
],
"position_mm": [
164.22568955525858,
-143.41079534508265,
34.699897420885264
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}