Files
appRobotRender/data/camera_study/Scene9/k7_abcdefg/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

956 lines
18 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-03T04:32:31Z",
"summary": {
"num_cameras": 7,
"num_markers": 43,
"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": "e",
"position_m": [
1.231553512896588,
-0.9094105466187785,
0.39759016852425577
],
"position_mm": [
1231.553512896588,
-909.4105466187785,
397.5901685242558
],
"direction": [
-0.7645778059959412,
0.5944018959999084,
-0.24921302497386932
]
},
{
"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
]
},
{
"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": 41,
"position_m": [
0.24638571917032795,
-0.1124289647512591,
0.342469713946586
],
"position_mm": [
246.38571917032795,
-112.4289647512591,
342.469713946586
],
"link": "FingerA",
"normal": [
0.0,
-0.9375276894468237,
0.34791066600565723
]
},
{
"marker_id": 42,
"position_m": [
0.21393858809274363,
-0.07790213742490623,
0.34428938359840144
],
"position_mm": [
213.93858809274363,
-77.90213742490623,
344.28938359840146
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.2679526236651614,
-0.07526377887115528,
0.3406218391205738
],
"position_mm": [
267.9526236651614,
-75.26377887115528,
340.62183912057384
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 46,
"position_m": [
0.5371407953328019,
0.18352470624431552,
-0.03321153218086768
],
"position_mm": [
537.1407953328019,
183.52470624431552,
-33.21153218086768
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 47,
"position_m": [
0.34435383801978886,
-0.2858216095695336,
-0.03211202355385431
],
"position_mm": [
344.35383801978884,
-285.8216095695336,
-32.112023553854314
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 48,
"position_m": [
0.6877794987898831,
-0.31887368427533913,
-0.028235224151852447
],
"position_mm": [
687.7794987898831,
-318.87368427533914,
-28.235224151852446
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.1679880390513517,
-0.1734776171506547,
-0.027129087748514923
],
"position_mm": [
167.9880390513517,
-173.4776171506547,
-27.129087748514923
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.4877139468381683,
0.21088403044082862,
-0.023525811049677617
],
"position_mm": [
487.71394683816834,
210.8840304408286,
-23.525811049677618
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.33990618164958936,
-0.3291705426772376,
-0.025379710072932507
],
"position_mm": [
339.90618164958937,
-329.1705426772376,
-25.379710072932507
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.2843177246763116,
-0.2612382212358463,
-0.026929209636495442
],
"position_mm": [
284.3177246763116,
-261.23822123584625,
-26.929209636495443
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 56,
"position_m": [
0.49927615308314194,
0.16727941688558393,
-0.027746102119958187
],
"position_mm": [
499.27615308314193,
167.2794168855839,
-27.746102119958188
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.049005494901340305,
-0.2172875281063924,
-0.027568954867344838
],
"position_mm": [
49.005494901340306,
-217.28752810639241,
-27.56895486734484
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.6246668591310175,
-0.27821813170795284,
-0.022836307872425868
],
"position_mm": [
624.6668591310175,
-278.21813170795286,
-22.836307872425866
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4036827436165107,
-0.17079235086602612,
-0.029839879293488088
],
"position_mm": [
403.68274361651066,
-170.7923508660261,
-29.83987929348809
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7760608425912112,
-0.23602740790490043,
-0.027995810609563198
],
"position_mm": [
776.0608425912112,
-236.02740790490043,
-27.995810609563197
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.021993803690863255,
-0.1865617060837862,
-0.02781214563662423
],
"position_mm": [
-21.993803690863256,
-186.5617060837862,
-27.81214563662423
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 66,
"position_m": [
0.21037710802571927,
-0.36452710917152725,
-0.028229988293227513
],
"position_mm": [
210.37710802571928,
-364.52710917152723,
-28.229988293227514
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 68,
"position_m": [
0.5755225695496917,
0.17405416069834534,
-0.02804734901375609
],
"position_mm": [
575.5225695496918,
174.05416069834533,
-28.04734901375609
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.004988241818409903,
-0.27932426031054497,
-0.02734242605348989
],
"position_mm": [
4.988241818409903,
-279.32426031054496,
-27.342426053489888
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 71,
"position_m": [
0.7504262737877181,
-0.2849785453456074,
-0.026669184645716014
],
"position_mm": [
750.4262737877181,
-284.9785453456074,
-26.669184645716015
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.4423333574499972,
0.1938382277679003,
-0.02795745715200649
],
"position_mm": [
442.3333574499972,
193.8382277679003,
-27.957457152006487
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 75,
"position_m": [
-0.026838015703759266,
0.19199787838167595,
-0.025997685661846095
],
"position_mm": [
-26.838015703759265,
191.99787838167595,
-25.997685661846095
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.3130113027036934,
-0.1585709612367371,
-0.02700990816086148
],
"position_mm": [
313.0113027036934,
-158.5709612367371,
-27.009908160861478
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5068115831963711,
-0.3144632812695918,
-0.026951449903274322
],
"position_mm": [
506.8115831963711,
-314.4632812695918,
-26.951449903274323
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.3616714799514471,
0.2947514044192538,
-0.026717883210492944
],
"position_mm": [
361.6714799514471,
294.7514044192538,
-26.717883210492943
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6467579305399157,
-0.1856088280465878,
-0.027876375439735028
],
"position_mm": [
646.7579305399157,
-185.6088280465878,
-27.87637543973503
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18646131093845283,
-0.2754226984015352,
-0.027905999176550008
],
"position_mm": [
186.46131093845284,
-275.42269840153523,
-27.905999176550008
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.37042637800162986,
-0.18606261747678202,
-0.026574723129935467
],
"position_mm": [
370.42637800162987,
-186.062617476782,
-26.574723129935467
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 97,
"position_m": [
0.30487284603984316,
-0.3608617363137973,
-0.032583919638433864
],
"position_mm": [
304.8728460398432,
-360.86173631379734,
-32.58391963843386
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6508250017170988,
-0.22381169855709454,
-0.026717082151892443
],
"position_mm": [
650.8250017170988,
-223.81169855709453,
-26.71708215189244
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.1060281996735174,
-0.18960867087792163,
-0.027611233236425347
],
"position_mm": [
106.02819967351739,
-189.60867087792164,
-27.611233236425345
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.2731287734655361,
-0.16438098169144388,
0.23613634419408164
],
"position_mm": [
273.1287734655361,
-164.38098169144388,
236.13634419408163
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 198,
"position_m": [
0.17048929097504242,
-0.05275179825888079,
0.09202568356017392
],
"position_mm": [
170.48929097504242,
-52.75179825888079,
92.02568356017392
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 205,
"position_m": [
0.7523456172840727,
-0.0902328130278139,
0.00043843931121922795
],
"position_mm": [
752.3456172840727,
-90.2328130278139,
0.43843931121922797
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.3523275045434795,
-0.0908145368514268,
0.0016703900032478116
],
"position_mm": [
352.3275045434795,
-90.81453685142681,
1.6703900032478116
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.021423818573613522,
-0.01896047487753416,
0.00031324177455900533
],
"position_mm": [
21.423818573613524,
-18.96047487753416,
0.3132417745590053
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.2529232846854129,
-0.01119352679588471,
0.0008042999345064954
],
"position_mm": [
252.9232846854129,
-11.19352679588471,
0.8042999345064954
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.3473596271358583,
-0.010979091584849303,
0.0003985331273745559
],
"position_mm": [
347.35962713585826,
-10.979091584849302,
0.39853312737455593
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 217,
"position_m": [
0.6478540958629531,
-0.09049503985517698,
-0.000808644770757561
],
"position_mm": [
647.854095862953,
-90.49503985517698,
-0.808644770757561
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.16649121950284476,
-0.14211523902583711,
0.08211640933192618
],
"position_mm": [
166.49121950284476,
-142.11523902583713,
82.11640933192618
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 243,
"position_m": [
0.17173554678479525,
-0.17529368534201262,
0.04576128588148231
],
"position_mm": [
171.73554678479525,
-175.29368534201262,
45.76128588148231
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.2637409899464942,
-0.18393130452264764,
0.055469181097543514
],
"position_mm": [
263.7409899464942,
-183.93130452264765,
55.46918109754351
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.22724909476670024,
-0.17605598302555026,
0.05192398438523609
],
"position_mm": [
227.24909476670024,
-176.05598302555026,
51.92398438523609
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}