Files
appRobotRender/data/camera_study/Scene9a/k3_abg/aruco_positions_initial.json
2026-06-03 07:04:27 +02:00

467 lines
8.8 KiB
JSON

{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-03T04:32:52Z",
"summary": {
"num_cameras": 3,
"num_markers": 21,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.30124957039980904,
-0.7944876545661685,
0.8037787426157785
],
"position_mm": [
-301.24957039980904,
-794.4876545661685,
803.7787426157786
],
"direction": [
0.47980576753616333,
0.6539319157600403,
-0.5849440097808838
]
},
{
"camera_id": "b",
"position_m": [
0.29717288049224716,
-0.8887366669190728,
1.2029439521855916
],
"position_mm": [
297.17288049224715,
-888.7366669190728,
1202.9439521855916
],
"direction": [
0.010270745493471622,
0.6205654144287109,
-0.7840874195098877
]
},
{
"camera_id": "g",
"position_m": [
-0.20892576741721647,
0.20128727403677504,
1.401691703675199
],
"position_mm": [
-208.92576741721646,
201.28727403677505,
1401.691703675199
],
"direction": [
0.30114462971687317,
-0.2968323230743408,
-0.9062021970748901
]
}
],
"markers": [
{
"marker_id": 42,
"position_m": [
0.21466578557990387,
-0.07796779672031891,
0.34162519530280305
],
"position_mm": [
214.66578557990388,
-77.9677967203189,
341.62519530280304
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.2678074416469462,
-0.07493714513183172,
0.34059218678804903
],
"position_mm": [
267.8074416469462,
-74.93714513183173,
340.59218678804905
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 48,
"position_m": [
0.6869147508604819,
-0.3182860719852472,
-0.027307485163407377
],
"position_mm": [
686.914750860482,
-318.28607198524725,
-27.307485163407378
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.3396661333501714,
-0.32736215414413544,
-0.026888380389196515
],
"position_mm": [
339.6661333501714,
-327.36215414413545,
-26.888380389196517
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28441233428163654,
-0.26127120697645106,
-0.027261303924589416
],
"position_mm": [
284.41233428163656,
-261.2712069764511,
-27.261303924589416
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.627367711620584,
-0.2767301385312419,
-0.02713870339763914
],
"position_mm": [
627.367711620584,
-276.7301385312419,
-27.13870339763914
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4018028043083682,
-0.17340169847579817,
-0.027267709906159197
],
"position_mm": [
401.8028043083682,
-173.40169847579818,
-27.267709906159197
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7750843344742281,
-0.23657050114443304,
-0.0272286071517455
],
"position_mm": [
775.0843344742281,
-236.57050114443302,
-27.2286071517455
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.006065889773137263,
-0.2778339613574879,
-0.027676150050922024
],
"position_mm": [
6.065889773137263,
-277.8339613574879,
-27.676150050922022
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5062927368425392,
-0.31388661776391585,
-0.027206729286759428
],
"position_mm": [
506.29273684253917,
-313.88661776391586,
-27.206729286759426
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.36309289185425386,
0.2945229973669171,
-0.029744444504427175
],
"position_mm": [
363.0928918542539,
294.52299736691714,
-29.744444504427175
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.646709286359723,
-0.18763849808465397,
-0.026941611666311493
],
"position_mm": [
646.709286359723,
-187.63849808465397,
-26.94161166631149
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18675726415718957,
-0.2772326070863383,
-0.027835845399334723
],
"position_mm": [
186.75726415718958,
-277.2326070863383,
-27.835845399334723
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 97,
"position_m": [
0.30578945379688804,
-0.35840379283884594,
-0.026248720958565185
],
"position_mm": [
305.78945379688804,
-358.40379283884596,
-26.248720958565187
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6516249759974321,
-0.22413396797421822,
-0.02761471522037728
],
"position_mm": [
651.6249759974321,
-224.13396797421822,
-27.61471522037728
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10485366732269766,
-0.19116199314422233,
-0.028452990158914483
],
"position_mm": [
104.85366732269766,
-191.16199314422232,
-28.452990158914485
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 198,
"position_m": [
0.1697800640378693,
-0.052802380974278584,
0.09111641821814678
],
"position_mm": [
169.7800640378693,
-52.802380974278584,
91.11641821814678
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 206,
"position_m": [
0.6505161854371168,
-0.010510973367911375,
0.00013056112483235006
],
"position_mm": [
650.5161854371167,
-10.510973367911374,
0.13056112483235005
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.35253582180279025,
-0.08923036072237361,
-0.0010053093558429762
],
"position_mm": [
352.5358218027902,
-89.23036072237362,
-1.0053093558429762
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 217,
"position_m": [
0.6468583375659769,
-0.08963796543280847,
-0.0002634109309689334
],
"position_mm": [
646.8583375659769,
-89.63796543280847,
-0.2634109309689334
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.1670827874337053,
-0.14230891189718436,
0.08654142336140981
],
"position_mm": [
167.0827874337053,
-142.30891189718437,
86.54142336140981
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
}
]
}