Files
appRobotRender/data/camera_study/Scene8/k3_efg/aruco_positions_initial.json
2026-06-03 07:04:27 +02:00

524 lines
9.8 KiB
JSON

{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-03T04:22:44Z",
"summary": {
"num_cameras": 3,
"num_markers": 24,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "e",
"position_m": [
1.2031666552274363,
-0.9024200483733755,
0.40396080672886847
],
"position_mm": [
1203.1666552274362,
-902.4200483733755,
403.9608067288685
],
"direction": [
-0.7491942644119263,
0.6063534617424011,
-0.26653963327407837
]
},
{
"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
]
},
{
"camera_id": "g",
"position_m": [
-0.2072035888495123,
0.2035164095056965,
1.4022641029137521
],
"position_mm": [
-207.2035888495123,
203.5164095056965,
1402.2641029137521
],
"direction": [
0.30012577772140503,
-0.29805290699005127,
-0.906139612197876
]
}
],
"markers": [
{
"marker_id": 41,
"position_m": [
0.25562788989227997,
-0.14375177851560783,
0.3453396199275968
],
"position_mm": [
255.62788989227997,
-143.75177851560784,
345.3396199275968
],
"link": "FingerA",
"normal": [
0.0,
-0.9375276894468237,
0.34791066600565723
]
},
{
"marker_id": 43,
"position_m": [
0.24294491454733885,
-0.17512375577068542,
0.3471663396385901
],
"position_mm": [
242.94491454733884,
-175.12375577068542,
347.1663396385901
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 46,
"position_m": [
0.5350165400132815,
0.1826418160214661,
-0.028652005617183406
],
"position_mm": [
535.0165400132814,
182.6418160214661,
-28.652005617183406
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 48,
"position_m": [
0.6872357590623445,
-0.3183110997000704,
-0.02736752709281734
],
"position_mm": [
687.2357590623444,
-318.3110997000704,
-27.36752709281734
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.48841828099638046,
0.21479756732665914,
-0.02807809684215796
],
"position_mm": [
488.4182809963805,
214.79756732665913,
-28.07809684215796
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.3400118622508693,
-0.3280445098182194,
-0.027663220128135033
],
"position_mm": [
340.01186225086934,
-328.0445098182194,
-27.663220128135034
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.2845844462842634,
-0.26115017201415175,
-0.028215079425426004
],
"position_mm": [
284.5844462842634,
-261.15017201415174,
-28.215079425426005
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 56,
"position_m": [
0.5007011174190135,
0.16527222732050675,
-0.02843007846286294
],
"position_mm": [
500.7011174190135,
165.27222732050674,
-28.43007846286294
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.047212134053911135,
-0.21662658743562513,
-0.027412937218567614
],
"position_mm": [
47.212134053911136,
-216.62658743562514,
-27.412937218567613
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.6277769659644352,
-0.27660381249787225,
-0.027238540836524116
],
"position_mm": [
627.7769659644352,
-276.60381249787224,
-27.238540836524116
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4020124464211038,
-0.17326683607270885,
-0.027006723740797586
],
"position_mm": [
402.0124464211038,
-173.26683607270886,
-27.006723740797586
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7754141876912736,
-0.2362452054670934,
-0.027519992057781585
],
"position_mm": [
775.4141876912736,
-236.2452054670934,
-27.519992057781586
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.019062538909678715,
-0.18949486468008883,
-0.02677776696653168
],
"position_mm": [
-19.062538909678715,
-189.49486468008882,
-26.77776696653168
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 66,
"position_m": [
0.20997090102533142,
-0.3637003310532822,
-0.0269273631080352
],
"position_mm": [
209.97090102533141,
-363.7003310532822,
-26.927363108035202
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.005947906278254108,
-0.27778371325638207,
-0.027271734365714534
],
"position_mm": [
5.947906278254108,
-277.78371325638204,
-27.271734365714533
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.44179430178025286,
0.19348945891129138,
-0.02824425070959826
],
"position_mm": [
441.79430178025285,
193.48945891129136,
-28.244250709598262
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5063764674586347,
-0.31390085463297274,
-0.02739638071676767
],
"position_mm": [
506.37646745863475,
-313.9008546329727,
-27.39638071676767
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6468836624910508,
-0.18710019604996667,
-0.02730054589433841
],
"position_mm": [
646.8836624910508,
-187.10019604996666,
-27.300545894338413
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18665865874426976,
-0.2771393168383884,
-0.027726966625113002
],
"position_mm": [
186.65865874426976,
-277.13931683838837,
-27.726966625113
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 97,
"position_m": [
0.30665266483323467,
-0.35891041669287516,
-0.02781091332870813
],
"position_mm": [
306.65266483323467,
-358.9104166928752,
-27.81091332870813
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6513066038092712,
-0.22358098520544847,
-0.02751001353499555
],
"position_mm": [
651.3066038092712,
-223.58098520544848,
-27.51001353499555
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10450116038299961,
-0.1909196734947336,
-0.02745149757956764
],
"position_mm": [
104.50116038299961,
-190.9196734947336,
-27.45149757956764
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 198,
"position_m": [
0.15988756934988332,
-0.05306622174689712,
0.09052906972662177
],
"position_mm": [
159.88756934988334,
-53.06622174689712,
90.52906972662177
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.35234467307307293,
-0.08925142331401602,
-0.00013893926119307314
],
"position_mm": [
352.34467307307295,
-89.25142331401602,
-0.13893926119307315
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
}
]
}