Files
appRobotRender/data/camera_study/Scene7/k4_bcdf/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

541 lines
10 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-03T04:18:53Z",
"summary": {
"num_cameras": 4,
"num_markers": 24,
"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": "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": "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": [
0.27454283569526017,
-0.1542544044784758,
0.3524608087784994
],
"position_mm": [
274.5428356952602,
-154.2544044784758,
352.46080877849937
],
"link": "FingerA",
"normal": [
-0.4224220616915755,
0.0,
-0.9063992507699015
]
},
{
"marker_id": 44,
"position_m": [
0.23844042197068677,
-0.1717110868181189,
0.3255056782368822
],
"position_mm": [
238.44042197068677,
-171.7110868181189,
325.5056782368822
],
"link": "FingerB",
"normal": [
0.0,
-0.9375276894468237,
-0.34791066600565723
]
},
{
"marker_id": 51,
"position_m": [
0.1685579406029546,
-0.17447472363797376,
-0.02684379488510822
],
"position_mm": [
168.5579406029546,
-174.47472363797377,
-26.84379488510822
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.3400450889465203,
-0.32813336207932714,
-0.02692363567225048
],
"position_mm": [
340.0450889465203,
-328.1333620793271,
-26.92363567225048
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.048581666604551044,
-0.2166029468876866,
-0.02703770247752337
],
"position_mm": [
48.581666604551046,
-216.6029468876866,
-27.037702477523368
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.40352840818708785,
-0.17042817764516763,
-0.02964698325063203
],
"position_mm": [
403.52840818708785,
-170.42817764516764,
-29.64698325063203
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.022453308374723365,
-0.1860471477033272,
-0.02936654458188161
],
"position_mm": [
-22.453308374723367,
-186.0471477033272,
-29.36654458188161
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.0065806693613113185,
-0.2800197697791553,
-0.02643991157007915
],
"position_mm": [
6.580669361311318,
-280.01976977915535,
-26.43991157007915
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.31255363378502354,
-0.15947047157153416,
-0.026673581757238243
],
"position_mm": [
312.5536337850235,
-159.47047157153415,
-26.673581757238242
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18734768182563993,
-0.27636362439821055,
-0.027351971248474664
],
"position_mm": [
187.34768182563994,
-276.36362439821056,
-27.351971248474662
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3704259050384511,
-0.18598510940581195,
-0.02617763230392964
],
"position_mm": [
370.42590503845105,
-185.98510940581195,
-26.17763230392964
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10694673160323373,
-0.19188946734272425,
-0.026336837312111575
],
"position_mm": [
106.94673160323373,
-191.88946734272426,
-26.336837312111573
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 114,
"position_m": [
0.2699507473912397,
-0.16885572445518604,
0.23685044512562556
],
"position_mm": [
269.9507473912397,
-168.85572445518605,
236.85044512562555
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 115,
"position_m": [
0.2206182140943856,
-0.17260324390972284,
0.23845082862876757
],
"position_mm": [
220.6182140943856,
-172.60324390972283,
238.45082862876757
],
"link": "Arm2",
"normal": [
-0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 120,
"position_m": [
0.2858112694832215,
-0.2174640527028128,
0.18904075124653558
],
"position_mm": [
285.8112694832215,
-217.4640527028128,
189.04075124653556
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 208,
"position_m": [
0.3527120567375565,
-0.09202338979827289,
0.0015655660366970144
],
"position_mm": [
352.7120567375565,
-92.02338979827289,
1.5655660366970143
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.021093716599900843,
-0.0189043047402954,
0.0011821411543049133
],
"position_mm": [
21.093716599900844,
-18.9043047402954,
1.1821411543049134
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.3476058785232949,
-0.012190385434443635,
0.0007797550976621319
],
"position_mm": [
347.6058785232949,
-12.190385434443636,
0.7797550976621319
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.25105962053482955,
-0.08969930249891649,
0.0010701360220950697
],
"position_mm": [
251.05962053482955,
-89.69930249891648,
1.0701360220950697
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.139670227617568,
-0.14649399857090678,
0.08720880767255194
],
"position_mm": [
139.670227617568,
-146.49399857090677,
87.20880767255194
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 232,
"position_m": [
0.2016380997145286,
-0.08073238220051213,
2.351764090856321e-05
],
"position_mm": [
201.63809971452858,
-80.73238220051212,
0.02351764090856321
],
"link": "Ellbow",
"normal": [
0.0,
0.7071067811865475,
-0.7071067811865475
]
},
{
"marker_id": 243,
"position_m": [
0.14154688269004922,
-0.17524204224709192,
0.04695897122236676
],
"position_mm": [
141.54688269004922,
-175.24204224709192,
46.958971222366756
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.20270975401752084,
-0.1033964804832102,
0.01426787648964602
],
"position_mm": [
202.70975401752085,
-103.39648048321021,
14.26787648964602
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.18361167700287226,
-0.13157331208919518,
0.030004680106250747
],
"position_mm": [
183.61167700287226,
-131.57331208919518,
30.004680106250746
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}