Files
appRobotRender/data/camera_study/Scene8/k4_acef/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

636 lines
12 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-03T04:23:49Z",
"summary": {
"num_cameras": 4,
"num_markers": 29,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.2999039553024492,
-0.7966331104538593,
0.8022965428228306
],
"position_mm": [
-299.90395530244916,
-796.6331104538593,
802.2965428228306
],
"direction": [
0.4790363907814026,
0.655602753162384,
-0.5837029814720154
]
},
{
"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": "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
]
}
],
"markers": [
{
"marker_id": 41,
"position_m": [
0.25555964755253996,
-0.14568981914488982,
0.34730396315857476
],
"position_mm": [
255.55964755253996,
-145.6898191448898,
347.30396315857473
],
"link": "FingerA",
"normal": [
0.0,
-0.9375276894468237,
0.34791066600565723
]
},
{
"marker_id": 44,
"position_m": [
0.2644980081619662,
-0.17272430539485195,
0.29780020813683533
],
"position_mm": [
264.4980081619662,
-172.72430539485194,
297.80020813683535
],
"link": "FingerB",
"normal": [
0.0,
-0.9375276894468237,
-0.34791066600565723
]
},
{
"marker_id": 45,
"position_m": [
0.25451679195339627,
-0.1947066202258319,
0.33860937112461303
],
"position_mm": [
254.51679195339628,
-194.7066202258319,
338.60937112461306
],
"link": "FingerB",
"normal": [
-0.8830215713766957,
-0.3090575499818435,
-0.3532086285506783
]
},
{
"marker_id": 47,
"position_m": [
0.344838375288362,
-0.2856731881657763,
-0.030781561019736486
],
"position_mm": [
344.838375288362,
-285.6731881657763,
-30.781561019736486
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.1672987885302345,
-0.17436854092095896,
-0.026794465203998846
],
"position_mm": [
167.2987885302345,
-174.36854092095896,
-26.794465203998847
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.3399161257705774,
-0.32919233493380917,
-0.025673840368479993
],
"position_mm": [
339.91612577057737,
-329.19233493380915,
-25.673840368479993
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28478980831798834,
-0.2607979802620507,
-0.02747445056061572
],
"position_mm": [
284.78980831798833,
-260.7979802620507,
-27.474450560615722
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04918233702548022,
-0.2194861334264216,
-0.024830050251102888
],
"position_mm": [
49.18233702548022,
-219.4861334264216,
-24.83005025110289
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.403765809082598,
-0.17157369834796776,
-0.028512123372123742
],
"position_mm": [
403.765809082598,
-171.57369834796776,
-28.512123372123742
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.020919399587265613,
-0.18694826494431377,
-0.028307098360088472
],
"position_mm": [
-20.919399587265612,
-186.94826494431376,
-28.30709836008847
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.31223498040439945,
-0.1586146346312013,
-0.0280931417122476
],
"position_mm": [
312.23498040439944,
-158.61463463120128,
-28.0931417122476
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5063708514333825,
-0.3138598616070484,
-0.027317433039825735
],
"position_mm": [
506.3708514333824,
-313.8598616070484,
-27.317433039825737
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6468072364156561,
-0.186625015417061,
-0.02756508592305477
],
"position_mm": [
646.8072364156561,
-186.625015417061,
-27.56508592305477
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18665058031872994,
-0.27615057950632266,
-0.027559732412633025
],
"position_mm": [
186.65058031872994,
-276.1505795063227,
-27.559732412633025
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3698707106820793,
-0.1855909210361226,
-0.026399075312222815
],
"position_mm": [
369.8707106820793,
-185.5909210361226,
-26.399075312222816
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 97,
"position_m": [
0.303829808953576,
-0.3604680630589162,
-0.023892820498722638
],
"position_mm": [
303.829808953576,
-360.4680630589162,
-23.89282049872264
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6520265948270396,
-0.22470133560749647,
-0.02702067789446686
],
"position_mm": [
652.0265948270396,
-224.70133560749647,
-27.02067789446686
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10521520369366882,
-0.189996304682044,
-0.027730613033148808
],
"position_mm": [
105.21520369366883,
-189.996304682044,
-27.730613033148806
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 114,
"position_m": [
0.2819622744632109,
-0.1493225819326497,
0.23652950093758465
],
"position_mm": [
281.9622744632109,
-149.32258193264968,
236.52950093758466
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 115,
"position_m": [
0.23359579566203872,
-0.15985143394249088,
0.2362354033305149
],
"position_mm": [
233.5957956620387,
-159.85143394249087,
236.2354033305149
],
"link": "Arm2",
"normal": [
-0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 120,
"position_m": [
0.2825705572061395,
-0.15454723644310867,
0.1667273824372364
],
"position_mm": [
282.5705572061395,
-154.54723644310866,
166.7273824372364
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 198,
"position_m": [
0.16083353413824913,
-0.05293332134222073,
0.09111592596685761
],
"position_mm": [
160.83353413824912,
-52.93332134222073,
91.1159259668576
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 206,
"position_m": [
0.6510334500766642,
-0.010252733320357707,
0.0003822089907299958
],
"position_mm": [
651.0334500766643,
-10.252733320357708,
0.3822089907299958
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.3526392557639192,
-0.09163914514520828,
0.0009073307124376479
],
"position_mm": [
352.6392557639192,
-91.63914514520827,
0.9073307124376478
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.021950377117636626,
-0.01934493960866523,
0.0006343491815808464
],
"position_mm": [
21.950377117636627,
-19.344939608665232,
0.6343491815808464
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.34860304963158134,
-0.01174193732648102,
0.0005281390566036144
],
"position_mm": [
348.6030496315813,
-11.74193732648102,
0.5281390566036145
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 243,
"position_m": [
0.16102407406527852,
-0.17626924790328297,
0.046818836630793156
],
"position_mm": [
161.0240740652785,
-176.26924790328297,
46.81883663079316
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.25164448471594925,
-0.1779955218173746,
0.05295555400690128
],
"position_mm": [
251.64448471594923,
-177.9955218173746,
52.95555400690128
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.21464151526621947,
-0.17220693978520282,
0.051082237310576865
],
"position_mm": [
214.64151526621947,
-172.20693978520282,
51.082237310576865
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}