Files
appRobotRender/data/camera_study/Scene9/k5_abcdf/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

654 lines
12 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-03T04:30:10Z",
"summary": {
"num_cameras": 5,
"num_markers": 29,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.3014392781131834,
-0.7976593540300962,
0.8090873924075274
],
"position_mm": [
-301.4392781131834,
-797.6593540300962,
809.0873924075273
],
"direction": [
0.478444904088974,
0.6539158821105957,
-0.5860755443572998
]
},
{
"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": "d",
"position_m": [
0.7029130020015959,
-0.7907698766672966,
0.4011397354766348
],
"position_mm": [
702.9130020015959,
-790.7698766672966,
401.13973547663477
],
"direction": [
-0.5559978485107422,
0.7807162404060364,
-0.28521665930747986
]
},
{
"camera_id": "f",
"position_m": [
0.4845048811903778,
-0.3053365075209884,
1.403362534392144
],
"position_mm": [
484.50488119037783,
-305.3365075209884,
1403.3625343921442
],
"direction": [
-0.2269427329301834,
0.08483054488897324,
-0.9702065587043762
]
}
],
"markers": [
{
"marker_id": 42,
"position_m": [
0.2143149009850494,
-0.08034957117986574,
0.3458834512312247
],
"position_mm": [
214.3149009850494,
-80.34957117986575,
345.88345123122474
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.26805171469257444,
-0.07540063235757868,
0.34074207024977193
],
"position_mm": [
268.0517146925744,
-75.40063235757869,
340.7420702497719
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 47,
"position_m": [
0.34409173117286873,
-0.2859181933272416,
-0.03354280709519869
],
"position_mm": [
344.0917311728687,
-285.9181933272416,
-33.54280709519869
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16787970318828377,
-0.17367276009658045,
-0.027030920910037583
],
"position_mm": [
167.87970318828377,
-173.67276009658045,
-27.030920910037583
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.4880021197618388,
0.21076618360871888,
-0.021669658564547677
],
"position_mm": [
488.0021197618388,
210.76618360871888,
-21.669658564547678
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.3394412266736525,
-0.32904938090752417,
-0.02564880143723406
],
"position_mm": [
339.4412266736525,
-329.04938090752415,
-25.64880143723406
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.2842383828512226,
-0.2612414643779481,
-0.026896391133300532
],
"position_mm": [
284.2383828512226,
-261.2414643779481,
-26.896391133300533
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 56,
"position_m": [
0.5006383049591799,
0.16835477552694006,
-0.031388262204039015
],
"position_mm": [
500.63830495917995,
168.35477552694005,
-31.388262204039016
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04847146113008248,
-0.2164652391828967,
-0.02804452237849216
],
"position_mm": [
48.47146113008248,
-216.4652391828967,
-28.04452237849216
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4035977874789362,
-0.17091638584516178,
-0.02974238801215259
],
"position_mm": [
403.5977874789362,
-170.91638584516178,
-29.74238801215259
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.022426965079298665,
-0.1855156309376814,
-0.028806074841673864
],
"position_mm": [
-22.426965079298665,
-185.51563093768138,
-28.806074841673862
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.0052787462448443505,
-0.27907423636096496,
-0.027246093149191405
],
"position_mm": [
5.27874624484435,
-279.07423636096496,
-27.246093149191406
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.4426073152944759,
0.19448954146420028,
-0.028301305487854166
],
"position_mm": [
442.6073152944759,
194.48954146420027,
-28.301305487854165
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 75,
"position_m": [
-0.026838015705013856,
0.19199787838401278,
-0.025997685666220596
],
"position_mm": [
-26.838015705013856,
191.99787838401278,
-25.997685666220594
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.31299628725560036,
-0.15882875420292308,
-0.026885260039101355
],
"position_mm": [
312.99628725560035,
-158.82875420292308,
-26.885260039101354
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5062335521236278,
-0.3152025617291326,
-0.025746069929951494
],
"position_mm": [
506.23355212362776,
-315.2025617291326,
-25.746069929951496
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.1865322675805669,
-0.2755853511608084,
-0.02778751963345311
],
"position_mm": [
186.5322675805669,
-275.5853511608084,
-27.78751963345311
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.37040958564773435,
-0.18632376664106548,
-0.02642809529136907
],
"position_mm": [
370.40958564773433,
-186.32376664106548,
-26.42809529136907
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10585388520833959,
-0.18954233123421402,
-0.027680425431127732
],
"position_mm": [
105.85388520833959,
-189.542331234214,
-27.680425431127734
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.2731974778419491,
-0.16089439756584525,
0.2338280445949453
],
"position_mm": [
273.1974778419491,
-160.89439756584525,
233.8280445949453
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 198,
"position_m": [
0.17095679223938834,
-0.05190496290189165,
0.09140786747504517
],
"position_mm": [
170.95679223938834,
-51.90496290189165,
91.40786747504518
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.35270408724573216,
-0.09153878206912833,
0.0023483746325485763
],
"position_mm": [
352.7040872457322,
-91.53878206912833,
2.3483746325485764
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.02155307061144657,
-0.01810607994781881,
-0.00041430223117033143
],
"position_mm": [
21.55307061144657,
-18.10607994781881,
-0.41430223117033144
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.25292328468498265,
-0.011193526795427775,
0.0008042999339366343
],
"position_mm": [
252.92328468498266,
-11.193526795427774,
0.8042999339366342
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.3475815935589081,
-0.011716203409127435,
0.0008944768456993939
],
"position_mm": [
347.5815935589081,
-11.716203409127434,
0.8944768456993939
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.16555841366183371,
-0.1411204461350346,
0.08085061984625308
],
"position_mm": [
165.55841366183373,
-141.1204461350346,
80.85061984625308
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 243,
"position_m": [
0.1717795574290203,
-0.17544795621323692,
0.045737600188757555
],
"position_mm": [
171.7795574290203,
-175.44795621323692,
45.737600188757554
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.26365890925530167,
-0.1808305968358413,
0.05352270420998433
],
"position_mm": [
263.65890925530164,
-180.8305968358413,
53.52270420998433
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.2266358190554085,
-0.1752191019188513,
0.051512190700482324
],
"position_mm": [
226.6358190554085,
-175.2191019188513,
51.51219070048232
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}