Files
appRobotRender/data/camera_study/Scene9b/k4_abeg/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

864 lines
16 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-03T04:43:34Z",
"summary": {
"num_cameras": 4,
"num_markers": 41,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.2965491449045601,
-0.7989052137066848,
0.801398161144361
],
"position_mm": [
-296.5491449045601,
-798.9052137066848,
801.398161144361
],
"direction": [
0.4766221344470978,
0.6572697162628174,
-0.5838046073913574
]
},
{
"camera_id": "b",
"position_m": [
0.305490949597657,
-0.8933107144337022,
1.201793445382242
],
"position_mm": [
305.490949597657,
-893.3107144337023,
1201.793445382242
],
"direction": [
0.004346273839473724,
0.6234733462333679,
-0.7818325161933899
]
},
{
"camera_id": "e",
"position_m": [
1.199993510216928,
-0.898854507188056,
0.3991201451566491
],
"position_mm": [
1199.993510216928,
-898.854507188056,
399.12014515664913
],
"direction": [
-0.7501824498176575,
0.6059012413024902,
-0.26478278636932373
]
},
{
"camera_id": "g",
"position_m": [
-0.2079076335893077,
0.203381580310826,
1.4005239466434216
],
"position_mm": [
-207.9076335893077,
203.38158031082602,
1400.5239466434216
],
"direction": [
0.3016498386859894,
-0.2984168231487274,
-0.9055135250091553
]
}
],
"markers": [
{
"marker_id": 42,
"position_m": [
0.21602947872755893,
-0.0777304663522319,
0.34129480807932006
],
"position_mm": [
216.02947872755894,
-77.7304663522319,
341.29480807932003
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.2692630181309672,
-0.07504258528637915,
0.34034451164190904
],
"position_mm": [
269.2630181309672,
-75.04258528637915,
340.34451164190904
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 46,
"position_m": [
0.5363458698153657,
0.1834943269243052,
-0.03037915607086607
],
"position_mm": [
536.3458698153657,
183.4943269243052,
-30.37915607086607
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 47,
"position_m": [
0.34447605512582685,
-0.28601438793871625,
-0.028492421508757023
],
"position_mm": [
344.47605512582686,
-286.01438793871625,
-28.492421508757023
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.168548438869806,
-0.1738202907037526,
-0.02716195850518502
],
"position_mm": [
168.548438869806,
-173.8202907037526,
-27.16195850518502
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.4877230588068611,
0.21111597354788883,
-0.026131111294583315
],
"position_mm": [
487.7230588068611,
211.11597354788884,
-26.131111294583313
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.33990205867325035,
-0.329814305509143,
-0.026284055468035514
],
"position_mm": [
339.90205867325034,
-329.81430550914297,
-26.284055468035515
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28441823385279824,
-0.26097814626012045,
-0.02715727873190714
],
"position_mm": [
284.41823385279827,
-260.97814626012047,
-27.157278731907137
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 56,
"position_m": [
0.4982998113171471,
0.16707157114152377,
-0.027169452300920133
],
"position_mm": [
498.29981131714715,
167.07157114152378,
-27.16945230092013
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04934487546044955,
-0.21735450663735723,
-0.026359301399078723
],
"position_mm": [
49.34487546044955,
-217.35450663735722,
-26.359301399078724
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.6249864136178239,
-0.27759697028261415,
-0.023800674032540138
],
"position_mm": [
624.9864136178239,
-277.59697028261417,
-23.800674032540137
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.40451032033844786,
-0.17399097149755208,
-0.026837462713510916
],
"position_mm": [
404.51032033844785,
-173.99097149755207,
-26.837462713510917
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7750457048850946,
-0.2358644992076054,
-0.02783929282301248
],
"position_mm": [
775.0457048850947,
-235.8644992076054,
-27.839292823012478
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.02208167301327474,
-0.18769170990391068,
-0.028205529134749
],
"position_mm": [
-22.081673013274738,
-187.6917099039107,
-28.205529134749
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 66,
"position_m": [
0.21084034826361447,
-0.36482306234884576,
-0.027208537665426337
],
"position_mm": [
210.8403482636145,
-364.8230623488458,
-27.208537665426338
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 68,
"position_m": [
0.574903589277209,
0.17371643937115433,
-0.027692967138291513
],
"position_mm": [
574.903589277209,
173.71643937115434,
-27.69296713829151
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.005159251562659718,
-0.2792697152590629,
-0.02688882001267079
],
"position_mm": [
5.159251562659718,
-279.26971525906293,
-26.888820012670788
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 71,
"position_m": [
0.7507092027266155,
-0.2854450427794171,
-0.025693276229891503
],
"position_mm": [
750.7092027266154,
-285.4450427794171,
-25.693276229891502
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.44239788882803244,
0.19341421913357118,
-0.027500448520749055
],
"position_mm": [
442.3978888280324,
193.41421913357118,
-27.500448520749057
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.3121874065227337,
-0.15878591316140964,
-0.027277339631036217
],
"position_mm": [
312.1874065227337,
-158.78591316140964,
-27.277339631036217
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.506158456368271,
-0.314069725474912,
-0.027153316139712586
],
"position_mm": [
506.15845636827095,
-314.06972547491205,
-27.153316139712587
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.36161791189633313,
0.29502208702394384,
-0.027095469914028062
],
"position_mm": [
361.6179118963331,
295.0220870239438,
-27.09546991402806
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6473005747869511,
-0.18532791612574934,
-0.02851671120954869
],
"position_mm": [
647.3005747869512,
-185.32791612574934,
-28.516711209548692
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18625099831896968,
-0.27590325802007293,
-0.027751987062559266
],
"position_mm": [
186.2509983189697,
-275.90325802007294,
-27.751987062559266
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3697651543673142,
-0.18592325151190317,
-0.026363900313405474
],
"position_mm": [
369.7651543673142,
-185.92325151190317,
-26.363900313405473
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6517325027555374,
-0.22350494210339492,
-0.028051510151569668
],
"position_mm": [
651.7325027555374,
-223.5049421033949,
-28.05151015156967
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.1067040220990397,
-0.1903949178817295,
-0.02727424624896412
],
"position_mm": [
106.7040220990397,
-190.3949178817295,
-27.27424624896412
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 105,
"position_m": [
0.5235974333559564,
-0.26648287373408747,
-0.02917551961476649
],
"position_mm": [
523.5974333559565,
-266.4828737340875,
-29.175519614766493
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.27090645937472796,
-0.16043688267410622,
0.2350871721536402
],
"position_mm": [
270.90645937472794,
-160.43688267410622,
235.08717215364018
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 198,
"position_m": [
0.17091581395210353,
-0.052905014910732615,
0.09061224065115642
],
"position_mm": [
170.91581395210355,
-52.90501491073262,
90.61224065115641
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 205,
"position_m": [
0.7526609559104167,
-0.08998871501282796,
0.0002711398784419814
],
"position_mm": [
752.6609559104168,
-89.98871501282795,
0.2711398784419814
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 206,
"position_m": [
0.649306421741677,
-0.010670387235856237,
0.0005829199954425255
],
"position_mm": [
649.306421741677,
-10.670387235856237,
0.5829199954425255
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.35205423441993167,
-0.09078879780263523,
4.084553628977695e-05
],
"position_mm": [
352.0542344199317,
-90.78879780263523,
0.04084553628977695
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.022261587209521965,
-0.02044156659370997,
0.0005585267523052441
],
"position_mm": [
22.261587209521966,
-20.44156659370997,
0.5585267523052441
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.34742113623403503,
-0.010923128868791697,
-4.7119599087190664e-05
],
"position_mm": [
347.42113623403503,
-10.923128868791697,
-0.04711959908719066
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.2506556963611764,
-0.08889980847598676,
9.095819112297718e-05
],
"position_mm": [
250.6556963611764,
-88.89980847598676,
0.09095819112297718
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 217,
"position_m": [
0.6465404445529266,
-0.09062004663771442,
-5.0207625812738174e-05
],
"position_mm": [
646.5404445529266,
-90.62004663771442,
-0.050207625812738174
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.1677310775648465,
-0.14271819847446554,
0.08576957367727116
],
"position_mm": [
167.73107756484652,
-142.71819847446554,
85.76957367727115
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 243,
"position_m": [
0.170796941830885,
-0.1757218727588679,
0.04900852641217982
],
"position_mm": [
170.796941830885,
-175.72187275886787,
49.00852641217982
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.26208681964726444,
-0.1765737954848149,
0.051896749144785995
],
"position_mm": [
262.08681964726446,
-176.5737954848149,
51.89674914478599
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.2246501573959326,
-0.17718535168765873,
0.05398583432262538
],
"position_mm": [
224.6501573959326,
-177.18535168765874,
53.98583432262538
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}