Files
appRobotRender/data/camera_study/Scene9a/k4_abef/aruco_positions_initial.json
2026-06-03 07:04:27 +02:00

580 lines
11 KiB
JSON

{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-03T04:34:46Z",
"summary": {
"num_cameras": 4,
"num_markers": 26,
"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": "e",
"position_m": [
1.2047895519114378,
-0.909711288880933,
0.41070428458266445
],
"position_mm": [
1204.7895519114377,
-909.711288880933,
410.70428458266446
],
"direction": [
-0.7462964057922363,
0.608277440071106,
-0.2702595889568329
]
},
{
"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": [
0.21209849880439866,
-0.08158376638101258,
0.34457750345360727
],
"position_mm": [
212.09849880439864,
-81.58376638101258,
344.5775034536073
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.26497373408108815,
-0.07875412737450598,
0.34342791486627294
],
"position_mm": [
264.97373408108814,
-78.75412737450597,
343.42791486627294
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 47,
"position_m": [
0.3438662760425957,
-0.28835319381951696,
-0.02694189057517027
],
"position_mm": [
343.8662760425957,
-288.35319381951695,
-26.94189057517027
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 48,
"position_m": [
0.6870167816852423,
-0.31820959759697387,
-0.02773876973941899
],
"position_mm": [
687.0167816852422,
-318.2095975969739,
-27.73876973941899
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.33990736395146515,
-0.32759700151578586,
-0.02681366393232612
],
"position_mm": [
339.90736395146513,
-327.59700151578585,
-26.813663932326122
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.284572558920921,
-0.260703737795025,
-0.027567158010507187
],
"position_mm": [
284.572558920921,
-260.703737795025,
-27.567158010507185
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.047565539704392944,
-0.21680940895493886,
-0.02759328519400377
],
"position_mm": [
47.56553970439295,
-216.80940895493885,
-27.59328519400377
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4018457188129276,
-0.17318303488230574,
-0.027464548834250934
],
"position_mm": [
401.8457188129276,
-173.18303488230575,
-27.464548834250934
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7759275104417971,
-0.2354735072306474,
-0.028368979151586378
],
"position_mm": [
775.927510441797,
-235.47350723064739,
-28.368979151586377
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.006231931442687331,
-0.27750707616010595,
-0.027898680424103674
],
"position_mm": [
6.231931442687331,
-277.50707616010595,
-27.898680424103674
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.311405064339724,
-0.1595551057584584,
-0.027371378163332242
],
"position_mm": [
311.405064339724,
-159.5551057584584,
-27.371378163332242
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 83,
"position_m": [
0.04524436656073279,
0.3414872115230647,
-0.02797859191900612
],
"position_mm": [
45.244366560732786,
341.48721152306473,
-27.978591919006117
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5057429467430576,
-0.31441325760699007,
-0.026916150355448525
],
"position_mm": [
505.74294674305764,
-314.41325760699004,
-26.916150355448526
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.36331729968490445,
0.2965234691735012,
-0.030193931115587474
],
"position_mm": [
363.31729968490447,
296.5234691735012,
-30.193931115587475
],
"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": [
0.1864091406280786,
-0.2769409964011155,
-0.026971058262060314
],
"position_mm": [
186.4091406280786,
-276.9409964011155,
-26.971058262060314
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.37133282334745316,
-0.18430765292080872,
-0.027401819814030687
],
"position_mm": [
371.33282334745314,
-184.30765292080872,
-27.401819814030688
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 97,
"position_m": [
0.30657853444062166,
-0.3583593085567373,
-0.026874095888700537
],
"position_mm": [
306.57853444062164,
-358.3593085567373,
-26.874095888700538
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6520776116647476,
-0.22391677853315345,
-0.027551883562900017
],
"position_mm": [
652.0776116647477,
-223.91677853315346,
-27.551883562900016
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10456402268628284,
-0.19061017748989958,
-0.027086338604612657
],
"position_mm": [
104.56402268628284,
-190.6101774898996,
-27.086338604612656
],
"link": "Board",
"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": [
0.35255121179289345,
-0.08949201151689083,
-0.0002309357894848409
],
"position_mm": [
352.55121179289347,
-89.49201151689083,
-0.2309357894848409
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.021582314609408113,
-0.020125773974314747,
0.00047996963361014424
],
"position_mm": [
21.58231460940811,
-20.125773974314747,
0.4799696336101442
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.34840273621354734,
-0.01139711358564948,
0.0003003743382649228
],
"position_mm": [
348.4027362135473,
-11.39711358564948,
0.3003743382649228
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.1660775540529198,
-0.14303023490636488,
0.08873901566525552
],
"position_mm": [
166.0775540529198,
-143.03023490636488,
88.73901566525552
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 245,
"position_m": [
0.2590773695239921,
-0.17709470663002747,
0.05329333659789615
],
"position_mm": [
259.07736952399205,
-177.09470663002747,
53.29333659789615
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}