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

523 lines
9.7 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-03T04:22:47Z",
"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": [
0.2552446222323906,
-0.1442711853523236,
0.34533728397506364
],
"position_mm": [
255.24462223239058,
-144.2711853523236,
345.33728397506366
],
"link": "FingerA",
"normal": [
0.0,
-0.9375276894468237,
0.34791066600565723
]
},
{
"marker_id": 43,
"position_m": [
0.24286015686743212,
-0.17523593501034176,
0.3471561175157167
],
"position_mm": [
242.86015686743212,
-175.23593501034176,
347.1561175157167
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 46,
"position_m": [
0.5367409631241992,
0.18362449848080917,
-0.032815608039925656
],
"position_mm": [
536.7409631241992,
183.62449848080917,
-32.81560803992566
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 48,
"position_m": [
0.6890118900917968,
-0.320300971230836,
-0.02626511410767656
],
"position_mm": [
689.0118900917968,
-320.300971230836,
-26.26511410767656
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.48787726995412817,
0.21121943247784736,
-0.024437668067946776
],
"position_mm": [
487.87726995412817,
211.21943247784736,
-24.437668067946777
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.3405653163265729,
-0.32735218199185423,
-0.026570148148053883
],
"position_mm": [
340.5653163265729,
-327.35218199185425,
-26.57014814805388
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28458335701599446,
-0.26115161556844696,
-0.02821492247345483
],
"position_mm": [
284.58335701599447,
-261.15161556844697,
-28.21492247345483
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 56,
"position_m": [
0.49894980050526827,
0.1673554215985051,
-0.026928580746299977
],
"position_mm": [
498.9498005052683,
167.3554215985051,
-26.92858074629998
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04900504663678204,
-0.21689441132588816,
-0.01937191277148067
],
"position_mm": [
49.00504663678204,
-216.89441132588817,
-19.37191277148067
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.626978882073324,
-0.27768222575081486,
-0.027145219048766826
],
"position_mm": [
626.978882073324,
-277.68222575081484,
-27.145219048766826
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4020205109951192,
-0.17325663491783583,
-0.02700655090847533
],
"position_mm": [
402.0205109951192,
-173.25663491783584,
-27.00655090847533
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7754504008934057,
-0.23620737908941664,
-0.0275017757914096
],
"position_mm": [
775.4504008934057,
-236.20737908941663,
-27.5017757914096
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.02191120751717849,
-0.18918817680926941,
-0.03309428082694267
],
"position_mm": [
-21.91120751717849,
-189.1881768092694,
-33.09428082694267
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 66,
"position_m": [
0.2109264717338039,
-0.3649066292140113,
-0.028980869498424752
],
"position_mm": [
210.9264717338039,
-364.9066292140113,
-28.980869498424752
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.00548130920554774,
-0.27850450023055234,
-0.029171884998978298
],
"position_mm": [
5.481309205547739,
-278.50450023055237,
-29.1718849989783
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.44264232444795076,
0.19389033524829555,
-0.0292437104460045
],
"position_mm": [
442.6423244479508,
193.89033524829554,
-29.2437104460045
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5063524860829277,
-0.3139307815960354,
-0.02739768246917579
],
"position_mm": [
506.3524860829277,
-313.9307815960354,
-27.39768246917579
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6454506443719379,
-0.1845751156045441,
-0.02820772894554425
],
"position_mm": [
645.4506443719379,
-184.5751156045441,
-28.207728945544247
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18638509306663817,
-0.2760182758128527,
-0.026109221585945783
],
"position_mm": [
186.38509306663818,
-276.0182758128527,
-26.109221585945782
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 97,
"position_m": [
0.3054483685595413,
-0.3596678089502189,
-0.029034005071180938
],
"position_mm": [
305.4483685595413,
-359.6678089502189,
-29.03400507118094
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6517363067578662,
-0.22249065885068248,
-0.02771319523685343
],
"position_mm": [
651.7363067578661,
-222.49065885068248,
-27.71319523685343
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10579957785012924,
-0.1904812170223127,
-0.029091166089769617
],
"position_mm": [
105.79957785012924,
-190.48121702231268,
-29.09116608976962
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 198,
"position_m": [
0.1598843026289611,
-0.053069670960951554,
0.09052990236721714
],
"position_mm": [
159.8843026289611,
-53.069670960951555,
90.52990236721715
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.3523255923074394,
-0.08927717700758087,
-0.00014110100774461398
],
"position_mm": [
352.32559230743936,
-89.27717700758086,
-0.14110100774461398
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
}
]
}