Files
appRobotRender/data/camera_study/Scene7/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": "2026-06-03T04:18:59Z",
"summary": {
"num_cameras": 4,
"num_markers": 30,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.3008120456617256,
-0.7967324976921262,
0.8035603940327218
],
"position_mm": [
-300.8120456617256,
-796.7324976921261,
803.5603940327219
],
"direction": [
0.478861004114151,
0.6553303003311157,
-0.5841526389122009
]
},
{
"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": "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": [
0.27205286702171094,
-0.14893583246088615,
0.3537362186791588
],
"position_mm": [
272.05286702171094,
-148.93583246088616,
353.73621867915875
],
"link": "FingerA",
"normal": [
-0.4224220616915755,
0.0,
-0.9063992507699015
]
},
{
"marker_id": 44,
"position_m": [
0.23780431017366876,
-0.1703997999870395,
0.326290590416396
],
"position_mm": [
237.80431017366877,
-170.3997999870395,
326.290590416396
],
"link": "FingerB",
"normal": [
0.0,
-0.9375276894468237,
-0.34791066600565723
]
},
{
"marker_id": 51,
"position_m": [
0.16753969228307652,
-0.17425473227267568,
-0.027014000245210584
],
"position_mm": [
167.53969228307653,
-174.25473227267568,
-27.014000245210585
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.3401046288127712,
-0.3277152939277596,
-0.02743547125647248
],
"position_mm": [
340.1046288127712,
-327.7152939277596,
-27.435471256472482
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28437858886385814,
-0.26081649034135723,
-0.02753847395110636
],
"position_mm": [
284.3785888638581,
-260.8164903413572,
-27.53847395110636
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.049637888494876395,
-0.2196547183758166,
-0.02492855592115265
],
"position_mm": [
49.63788849487639,
-219.6547183758166,
-24.92855592115265
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.403908889711056,
-0.17213348101455303,
-0.028224383628748535
],
"position_mm": [
403.90888971105596,
-172.13348101455304,
-28.224383628748534
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.020700211304750485,
-0.18759147068298856,
-0.02801995351068662
],
"position_mm": [
-20.700211304750486,
-187.59147068298856,
-28.019953510686623
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.31236369321092544,
-0.15856878180795012,
-0.028091755103616466
],
"position_mm": [
312.3636932109254,
-158.5687818079501,
-28.091755103616464
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 82,
"position_m": [
0.21814437203047143,
0.2969682474798066,
-0.028246244823040733
],
"position_mm": [
218.14437203047143,
296.9682474798066,
-28.246244823040733
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 83,
"position_m": [
0.04474497275589318,
0.34166359373940075,
-0.02774746889184325
],
"position_mm": [
44.74497275589318,
341.66359373940077,
-27.747468891843248
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.505895019959997,
-0.31491124776294116,
-0.026985446367469815
],
"position_mm": [
505.89501995999694,
-314.9112477629412,
-26.985446367469816
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6465869582801875,
-0.18647855316878936,
-0.02744944976391246
],
"position_mm": [
646.5869582801876,
-186.47855316878938,
-27.449449763912458
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18640806797067405,
-0.2761274857710834,
-0.027781196364819558
],
"position_mm": [
186.40806797067404,
-276.1274857710834,
-27.781196364819557
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3698620199543877,
-0.18585186361429268,
-0.026662033383493176
],
"position_mm": [
369.86201995438773,
-185.85186361429268,
-26.662033383493178
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 97,
"position_m": [
0.30481794578353183,
-0.3598266069257236,
-0.024736830213507022
],
"position_mm": [
304.81794578353185,
-359.8266069257236,
-24.736830213507023
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6518235725281234,
-0.22455340335378288,
-0.02697199099148336
],
"position_mm": [
651.8235725281233,
-224.55340335378287,
-26.97199099148336
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10541626962046037,
-0.189713645695394,
-0.0280985433551215
],
"position_mm": [
105.41626962046037,
-189.713645695394,
-28.0985433551215
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 105,
"position_m": [
0.5214283245347516,
-0.26663798989253046,
-0.02804503173938157
],
"position_mm": [
521.4283245347516,
-266.63798989253047,
-28.04503173938157
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 114,
"position_m": [
0.2640050781060023,
-0.15177211266524346,
0.23673602188516626
],
"position_mm": [
264.0050781060023,
-151.77211266524347,
236.73602188516625
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 115,
"position_m": [
0.21489361565112397,
-0.1577269333132842,
0.2350444170446035
],
"position_mm": [
214.89361565112398,
-157.72693331328418,
235.0444170446035
],
"link": "Arm2",
"normal": [
-0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 120,
"position_m": [
0.26420617978705024,
-0.15744752921100366,
0.16696675458510507
],
"position_mm": [
264.20617978705025,
-157.44752921100365,
166.96675458510506
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 206,
"position_m": [
0.6505373893819544,
-0.009886025195992193,
0.00036133528229379214
],
"position_mm": [
650.5373893819544,
-9.886025195992193,
0.36133528229379214
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.3519580302057492,
-0.09108421320724633,
0.00084560466500373
],
"position_mm": [
351.9580302057492,
-91.08421320724632,
0.8456046650037301
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.02107775282727858,
-0.01974377928711758,
0.0011013963480532754
],
"position_mm": [
21.07775282727858,
-19.74377928711758,
1.1013963480532754
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.34763707551052775,
-0.011205410071260769,
6.869479248055214e-06
],
"position_mm": [
347.6370755105277,
-11.205410071260768,
0.006869479248055214
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.13796809351099532,
-0.14212658942671147,
0.08463773185967421
],
"position_mm": [
137.96809351099532,
-142.12658942671146,
84.63773185967422
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 243,
"position_m": [
0.1411238595870615,
-0.17357074821479831,
0.04654142019261913
],
"position_mm": [
141.1238595870615,
-173.57074821479833,
46.54142019261913
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.23283676900185626,
-0.1778327876996664,
0.05256858752068549
],
"position_mm": [
232.83676900185625,
-177.8327876996664,
52.56858752068549
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.19546934243091876,
-0.17476249471569832,
0.051875995907609516
],
"position_mm": [
195.46934243091877,
-174.76249471569832,
51.875995907609514
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}