Files
appRobotRender/data/camera_study/Scene9/k3_bcg/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

637 lines
12 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-03T04:28:01Z",
"summary": {
"num_cameras": 3,
"num_markers": 30,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "b",
"position_m": [
0.3044963064856628,
-0.8948174327872729,
1.2012475383268955
],
"position_mm": [
304.4963064856628,
-894.8174327872729,
1201.2475383268954
],
"direction": [
0.005024135112762451,
0.6242465972900391,
-0.7812111973762512
]
},
{
"camera_id": "c",
"position_m": [
0.3287264582676568,
-0.9186429714357892,
0.3564346556463644
],
"position_mm": [
328.72645826765677,
-918.6429714357893,
356.4346556463644
],
"direction": [
-0.13607342541217804,
0.9607956409454346,
-0.24156945943832397
]
},
{
"camera_id": "g",
"position_m": [
-0.20770381032232174,
0.20442134232445805,
1.4010649939179851
],
"position_mm": [
-207.70381032232174,
204.42134232445804,
1401.064993917985
],
"direction": [
0.3006979525089264,
-0.2988070547580719,
-0.9057013988494873
]
}
],
"markers": [
{
"marker_id": 42,
"position_m": [
0.2153125696304449,
-0.07718021398008043,
0.34106450385604825
],
"position_mm": [
215.3125696304449,
-77.18021398008042,
341.06450385604825
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.2691414339971979,
-0.07433898832257066,
0.34014748488558844
],
"position_mm": [
269.1414339971979,
-74.33898832257066,
340.1474848855884
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 47,
"position_m": [
0.34441334188574285,
-0.28598594924942655,
-0.030454914691320955
],
"position_mm": [
344.41334188574285,
-285.98594924942654,
-30.454914691320955
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 48,
"position_m": [
0.6876690539027142,
-0.31877172016143057,
-0.027807985491341454
],
"position_mm": [
687.6690539027142,
-318.77172016143055,
-27.807985491341455
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.48736790003382197,
0.2110060304179849,
-0.024604548985311923
],
"position_mm": [
487.36790003382197,
211.0060304179849,
-24.604548985311922
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.33936597377526,
-0.3294776419011638,
-0.025235936885638573
],
"position_mm": [
339.36597377526,
-329.4776419011638,
-25.235936885638573
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28436095837285646,
-0.2611846105609295,
-0.026693789279326387
],
"position_mm": [
284.3609583728565,
-261.1846105609295,
-26.69378927932639
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 56,
"position_m": [
0.4997794453254542,
0.16758619889077256,
-0.0282823671008182
],
"position_mm": [
499.7794453254542,
167.58619889077255,
-28.2823671008182
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04970786418882116,
-0.21860305159525978,
-0.027230469901945293
],
"position_mm": [
49.707864188821155,
-218.60305159525979,
-27.230469901945295
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.6248050665058364,
-0.2776185700885342,
-0.023362321195428203
],
"position_mm": [
624.8050665058364,
-277.61857008853417,
-23.362321195428205
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.40301898922349705,
-0.16864952679348613,
-0.030900260766082443
],
"position_mm": [
403.01898922349704,
-168.64952679348613,
-30.900260766082443
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7750520409477307,
-0.2360505517203952,
-0.027690613192175216
],
"position_mm": [
775.0520409477307,
-236.05055172039522,
-27.690613192175217
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.021050043702051546,
-0.1873245356851485,
-0.027079784256287258
],
"position_mm": [
-21.050043702051546,
-187.3245356851485,
-27.079784256287258
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.004820106084440594,
-0.2799883601231254,
-0.025474767030351703
],
"position_mm": [
4.820106084440593,
-279.9883601231254,
-25.474767030351703
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 71,
"position_m": [
0.7507503841264294,
-0.285680649378571,
-0.026514214364294998
],
"position_mm": [
750.7503841264294,
-285.680649378571,
-26.514214364294997
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.4420788315128966,
0.19346357885982673,
-0.027884491475517213
],
"position_mm": [
442.0788315128966,
193.46357885982673,
-27.884491475517212
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.3132159322728005,
-0.15960297005017754,
-0.026718253860409748
],
"position_mm": [
313.2159322728005,
-159.60297005017753,
-26.71825386040975
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5065303989068791,
-0.3138004345576581,
-0.02717247070957345
],
"position_mm": [
506.5303989068791,
-313.8004345576581,
-27.17247070957345
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.36167147994775156,
0.29475140441494163,
-0.02671788320001563
],
"position_mm": [
361.67147994775155,
294.75140441494165,
-26.71788320001563
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6468109745649672,
-0.18567430258554324,
-0.028295128219213782
],
"position_mm": [
646.8109745649672,
-185.67430258554324,
-28.295128219213783
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.37101798867937585,
-0.1862734044266615,
-0.027005440194878837
],
"position_mm": [
371.01798867937583,
-186.2734044266615,
-27.005440194878837
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.651921253375221,
-0.22376929776725896,
-0.02829570583041618
],
"position_mm": [
651.921253375221,
-223.76929776725896,
-28.295705830416182
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10628274504394078,
-0.19001966948079224,
-0.027311986061099285
],
"position_mm": [
106.28274504394078,
-190.01966948079223,
-27.311986061099287
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.2753023247307374,
-0.1563413191973368,
0.23120228116106692
],
"position_mm": [
275.3023247307374,
-156.3413191973368,
231.2022811610669
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 198,
"position_m": [
0.17083187610939848,
-0.05255655534700418,
0.09067608080447982
],
"position_mm": [
170.83187610939848,
-52.55655534700418,
90.67608080447982
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 205,
"position_m": [
0.7523456172843324,
-0.09023281302711803,
0.0004384393097775048
],
"position_mm": [
752.3456172843323,
-90.23281302711803,
0.4384393097775048
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.35170932104844466,
-0.09033897604486893,
-0.000641302955346591
],
"position_mm": [
351.7093210484447,
-90.33897604486893,
-0.641302955346591
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.1675335062836531,
-0.1421269953756545,
0.08253623348925065
],
"position_mm": [
167.5335062836531,
-142.1269953756545,
82.53623348925065
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 243,
"position_m": [
0.171919685996379,
-0.1727524461874564,
0.04389884621611583
],
"position_mm": [
171.919685996379,
-172.7524461874564,
43.898846216115835
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.26253463917226544,
-0.17443335413972316,
0.04889986184990098
],
"position_mm": [
262.53463917226543,
-174.43335413972315,
48.89986184990098
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}