Files
appRobotRender/data/camera_study/Scene8/k5_abcfg/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

825 lines
15 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-03T04:24:39Z",
"summary": {
"num_cameras": 5,
"num_markers": 38,
"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": "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
]
},
{
"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": [
0.2570031456044437,
-0.1444293849603646,
0.34612840732753486
],
"position_mm": [
257.0031456044437,
-144.4293849603646,
346.1284073275349
],
"link": "FingerA",
"normal": [
0.0,
-0.9375276894468237,
0.34791066600565723
]
},
{
"marker_id": 43,
"position_m": [
0.24290459729948313,
-0.17530061592344298,
0.3469649134660399
],
"position_mm": [
242.90459729948313,
-175.300615923443,
346.9649134660399
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 45,
"position_m": [
0.25465980018866985,
-0.19367952225678617,
0.33824417942566826
],
"position_mm": [
254.65980018866986,
-193.67952225678616,
338.2441794256683
],
"link": "FingerB",
"normal": [
-0.8830215713766957,
-0.3090575499818435,
-0.3532086285506783
]
},
{
"marker_id": 46,
"position_m": [
0.5367412549652097,
0.1836246357394292,
-0.03281606991023814
],
"position_mm": [
536.7412549652097,
183.62463573942918,
-32.81606991023814
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 47,
"position_m": [
0.34512553572573,
-0.28501890180775424,
-0.031436027948832664
],
"position_mm": [
345.12553572573,
-285.0189018077542,
-31.436027948832663
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16772874427666032,
-0.17405837966034587,
-0.027030954692614337
],
"position_mm": [
167.7287442766603,
-174.05837966034588,
-27.030954692614337
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.48787699780986765,
0.21121926383322778,
-0.024436102035249298
],
"position_mm": [
487.87699780986765,
211.21926383322779,
-24.4361020352493
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.34036360752030975,
-0.32857086099236815,
-0.026457744108221357
],
"position_mm": [
340.36360752030976,
-328.5708609923681,
-26.45774410822136
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28481450507839323,
-0.2608666352102628,
-0.027590064105742242
],
"position_mm": [
284.8145050783932,
-260.8666352102628,
-27.590064105742243
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 56,
"position_m": [
0.4989499654670538,
0.16735552912813545,
-0.026929939286117685
],
"position_mm": [
498.9499654670538,
167.35552912813546,
-26.929939286117683
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.049024408201638364,
-0.21804409463649388,
-0.025672260937479277
],
"position_mm": [
49.024408201638366,
-218.04409463649387,
-25.672260937479276
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.6266853720384061,
-0.2773950391020205,
-0.02525809704565774
],
"position_mm": [
626.6853720384062,
-277.3950391020205,
-25.258097045657742
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.40396761595332353,
-0.1704784335856446,
-0.03013332453052323
],
"position_mm": [
403.96761595332356,
-170.4784335856446,
-30.13332453052323
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7753352307549801,
-0.23581017129899182,
-0.02758773474481811
],
"position_mm": [
775.3352307549801,
-235.8101712989918,
-27.58773474481811
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.021649857142605637,
-0.1866928521368444,
-0.02837212469841746
],
"position_mm": [
-21.649857142605637,
-186.69285213684438,
-28.372124698417462
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 66,
"position_m": [
0.20996986837733012,
-0.3651790943368655,
-0.029523840876307217
],
"position_mm": [
209.9698683773301,
-365.1790943368655,
-29.52384087630722
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.00493059550501352,
-0.27997188104763765,
-0.028285162207401043
],
"position_mm": [
4.93059550501352,
-279.9718810476376,
-28.285162207401044
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 71,
"position_m": [
0.7510347143614496,
-0.2854379470228555,
-0.02629535706130402
],
"position_mm": [
751.0347143614497,
-285.4379470228555,
-26.29535706130402
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.4426421629747205,
0.1938902613279634,
-0.029243527540245992
],
"position_mm": [
442.64216297472046,
193.8902613279634,
-29.243527540245992
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.3125019578616776,
-0.15855004697089634,
-0.028093760050960998
],
"position_mm": [
312.5019578616776,
-158.55004697089635,
-28.093760050961
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.506478972868455,
-0.3136551059583077,
-0.027151254074031173
],
"position_mm": [
506.478972868455,
-313.6551059583077,
-27.151254074031172
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.3622894098626092,
0.29486725979577205,
-0.027492734644312653
],
"position_mm": [
362.2894098626092,
294.86725979577204,
-27.49273464431265
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6473873705281288,
-0.18560037177183736,
-0.027904447061724055
],
"position_mm": [
647.3873705281288,
-185.60037177183736,
-27.904447061724056
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18677331140460926,
-0.27589580677284986,
-0.028082143740257838
],
"position_mm": [
186.77331140460927,
-275.8958067728499,
-28.082143740257838
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3703882449949763,
-0.18500649915216147,
-0.0267883598857817
],
"position_mm": [
370.3882449949763,
-185.00649915216147,
-26.7883598857817
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 97,
"position_m": [
0.30437482104615543,
-0.35996527660806876,
-0.0247959469577283
],
"position_mm": [
304.37482104615543,
-359.96527660806873,
-24.795946957728297
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6537070346077517,
-0.22346526460130536,
-0.02981659164985852
],
"position_mm": [
653.7070346077517,
-223.46526460130536,
-29.81659164985852
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.1056392091280522,
-0.18964910980862731,
-0.02816601765847583
],
"position_mm": [
105.6392091280522,
-189.64910980862732,
-28.16601765847583
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 115,
"position_m": [
0.23305398602389257,
-0.1607346132892524,
0.2365345768791607
],
"position_mm": [
233.05398602389258,
-160.7346132892524,
236.5345768791607
],
"link": "Arm2",
"normal": [
-0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 198,
"position_m": [
0.16065142275539912,
-0.0531952788945109,
0.09112940221074609
],
"position_mm": [
160.65142275539912,
-53.1952788945109,
91.12940221074608
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 206,
"position_m": [
0.650276504249972,
-0.010798345188998278,
0.00045413450141511177
],
"position_mm": [
650.2765042499719,
-10.798345188998278,
0.45413450141511175
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.3525366909542598,
-0.0910965474411539,
0.0003051254685786252
],
"position_mm": [
352.5366909542598,
-91.0965474411539,
0.30512546857862516
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.02195401907072101,
-0.019284743269259885,
0.0006024562962952478
],
"position_mm": [
21.95401907072101,
-19.284743269259884,
0.6024562962952478
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.348582212071201,
-0.01119485474661658,
2.53260243507617e-05
],
"position_mm": [
348.582212071201,
-11.19485474661658,
0.0253260243507617
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 217,
"position_m": [
0.646642622289489,
-0.09071425923389032,
-3.737921241487589e-05
],
"position_mm": [
646.6426222894889,
-90.71425923389032,
-0.03737921241487589
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.15787651889747945,
-0.14296590068567488,
0.0853381136997709
],
"position_mm": [
157.87651889747946,
-142.96590068567488,
85.3381136997709
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 243,
"position_m": [
0.1607783658510762,
-0.17320559287591966,
0.046259262103292856
],
"position_mm": [
160.7783658510762,
-173.20559287591965,
46.259262103292855
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.2506638991952789,
-0.17587229991863965,
0.05177237770929305
],
"position_mm": [
250.66389919527893,
-175.87229991863964,
51.772377709293046
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}