Files
appRobotRender/data/camera_study/Scene9a/k3_bdf/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

352 lines
6.6 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-03T04:32:47Z",
"summary": {
"num_cameras": 3,
"num_markers": 15,
"num_constraints": 94
},
"cameras": [
{
"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": "d",
"position_m": [
0.7010643463118735,
-0.7940689865992328,
0.40229983605243974
],
"position_mm": [
701.0643463118736,
-794.0689865992327,
402.29983605243973
],
"direction": [
-0.5524550080299377,
0.7830438613891602,
-0.285719633102417
]
},
{
"camera_id": "f",
"position_m": [
0.48505310768854737,
-0.309669335539303,
1.402070939578569
],
"position_mm": [
485.05310768854736,
-309.669335539303,
1402.070939578569
],
"direction": [
-0.22737352550029755,
0.08767975866794586,
-0.9698523283004761
]
}
],
"markers": [
{
"marker_id": 42,
"position_m": [
0.2148648512094608,
-0.08309601257294187,
0.34867293486996415
],
"position_mm": [
214.8648512094608,
-83.09601257294187,
348.67293486996414
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.26756249528906245,
-0.07603097599369524,
0.3399926928645847
],
"position_mm": [
267.56249528906244,
-76.03097599369524,
339.99269286458474
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 55,
"position_m": [
0.28469012741965954,
-0.26087314991039806,
-0.027734998133261368
],
"position_mm": [
284.6901274196595,
-260.87314991039807,
-27.734998133261367
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04794498942871653,
-0.2156858334675044,
-0.02765714038764968
],
"position_mm": [
47.944989428716525,
-215.68583346750438,
-27.65714038764968
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4017982588573515,
-0.1734005457376733,
-0.027765209642712348
],
"position_mm": [
401.79825885735147,
-173.4005457376733,
-27.765209642712346
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.02353615258187551,
-0.18626659813633464,
-0.03082137838071757
],
"position_mm": [
-23.53615258187551,
-186.26659813633464,
-30.82137838071757
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.00618988404041567,
-0.27925829924470447,
-0.026565342634109212
],
"position_mm": [
6.189884040415669,
-279.25829924470446,
-26.56534263410921
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.44108600209077303,
0.19358032738709866,
-0.027116275869745087
],
"position_mm": [
441.08600209077304,
193.58032738709866,
-27.11627586974509
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.3118720582199244,
-0.15830694400628584,
-0.026675474731588537
],
"position_mm": [
311.87205821992444,
-158.30694400628585,
-26.675474731588537
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.36289440098006687,
0.29061164032659187,
-0.025787381228802673
],
"position_mm": [
362.89440098006685,
290.6116403265919,
-25.787381228802673
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18715914396196537,
-0.27710010398316065,
-0.026545553627428515
],
"position_mm": [
187.15914396196536,
-277.10010398316064,
-26.545553627428514
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10651489743140002,
-0.19147943696610428,
-0.026493976733148256
],
"position_mm": [
106.51489743140003,
-191.4794369661043,
-26.493976733148255
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.3530103176947398,
-0.09158316221484343,
0.00186985598594175
],
"position_mm": [
353.0103176947398,
-91.58316221484343,
1.86985598594175
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.3481002868330615,
-0.011745832876037686,
0.000494945784400361
],
"position_mm": [
348.1002868330615,
-11.745832876037687,
0.49494578440036097
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.167233959980262,
-0.1436486704411593,
0.08948961375039573
],
"position_mm": [
167.233959980262,
-143.6486704411593,
89.48961375039573
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
}
]
}