Files
appRobotRender/data/camera_study/Scene8/k3_bcf/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

371 lines
6.9 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-03T04:22:52Z",
"summary": {
"num_cameras": 3,
"num_markers": 16,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "b",
"position_m": [
0.2997741245358298,
-0.8919452713410032,
1.1998563182979443
],
"position_mm": [
299.7741245358298,
-891.9452713410033,
1199.8563182979442
],
"direction": [
0.008538469672203064,
0.6230279803276062,
-0.7821529507637024
]
},
{
"camera_id": "c",
"position_m": [
0.30200652155301316,
-0.9020153808807998,
0.39842941410859795
],
"position_mm": [
302.00652155301316,
-902.0153808807999,
398.42941410859794
],
"direction": [
-0.10717876255512238,
0.9495941400527954,
-0.2945907711982727
]
},
{
"camera_id": "f",
"position_m": [
0.48527535699969704,
-0.3052028540305418,
1.4031193543203273
],
"position_mm": [
485.275356999697,
-305.2028540305418,
1403.1193543203274
],
"direction": [
-0.22739066183567047,
0.08463967591524124,
-0.9701183438301086
]
}
],
"markers": [
{
"marker_id": 41,
"position_m": [
0.257391770107558,
-0.14598954707260797,
0.3490228084379572
],
"position_mm": [
257.391770107558,
-145.98954707260796,
349.02280843795717
],
"link": "FingerA",
"normal": [
0.0,
-0.9375276894468237,
0.34791066600565723
]
},
{
"marker_id": 54,
"position_m": [
0.34013190623762,
-0.3281157014441488,
-0.026101836652242347
],
"position_mm": [
340.13190623762,
-328.1157014441488,
-26.101836652242348
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28481285309303744,
-0.26121333943895536,
-0.027275417021192634
],
"position_mm": [
284.81285309303746,
-261.21333943895536,
-27.275417021192634
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.048487513680988664,
-0.2178882721120762,
-0.025919596510695978
],
"position_mm": [
48.48751368098866,
-217.8882721120762,
-25.91959651069598
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.403590842144637,
-0.17075876796026931,
-0.029738242049004986
],
"position_mm": [
403.59084214463695,
-170.75876796026932,
-29.738242049004985
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.02180322769765307,
-0.18573946890228576,
-0.029193449737025992
],
"position_mm": [
-21.803227697653067,
-185.73946890228575,
-29.193449737025993
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.006937620976065014,
-0.2814744804771297,
-0.021851544797735614
],
"position_mm": [
6.937620976065014,
-281.4744804771297,
-21.851544797735613
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.31267313080109643,
-0.15931569929758743,
-0.027471859010327997
],
"position_mm": [
312.6731308010964,
-159.31569929758743,
-27.471859010327996
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.187150150915261,
-0.27715658618531314,
-0.027351211912263897
],
"position_mm": [
187.15015091526098,
-277.15658618531313,
-27.351211912263896
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.370398718668436,
-0.18612633249881153,
-0.026281284915750474
],
"position_mm": [
370.398718668436,
-186.12633249881154,
-26.281284915750472
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.1055054252352202,
-0.19025595236530785,
-0.02769367671224312
],
"position_mm": [
105.5054252352202,
-190.25595236530785,
-27.693676712243118
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 198,
"position_m": [
0.16119351668911844,
-0.053450524625897465,
0.09151477417428003
],
"position_mm": [
161.19351668911844,
-53.450524625897465,
91.51477417428003
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.3526080264059848,
-0.09182529758334028,
0.0009798457919985052
],
"position_mm": [
352.60802640598484,
-91.82529758334027,
0.9798457919985052
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.02188342352567052,
-0.018478552645781667,
0.0004976005570103525
],
"position_mm": [
21.88342352567052,
-18.478552645781665,
0.4976005570103525
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.3485832404894386,
-0.011927970969225227,
0.0005141948437536485
],
"position_mm": [
348.5832404894386,
-11.927970969225228,
0.5141948437536484
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.15812489944023164,
-0.14333559450313774,
0.08815952162784842
],
"position_mm": [
158.12489944023164,
-143.33559450313774,
88.15952162784842
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
}
]
}