Files
appRobotRender/data/camera_study/Scene9b/k5_acdeg/aruco_positions_initial.json
2026-06-03 07:04:27 +02:00

826 lines
15 KiB
JSON

{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-03T04:50:21Z",
"summary": {
"num_cameras": 5,
"num_markers": 38,
"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": "c",
"position_m": [
0.3037280320901282,
-0.9002284925907265,
0.4042794227519738
],
"position_mm": [
303.72803209012824,
-900.2284925907264,
404.2794227519738
],
"direction": [
-0.1104506105184555,
0.9474959373474121,
-0.3000868856906891
]
},
{
"camera_id": "d",
"position_m": [
0.6998694007459306,
-0.7986960051436206,
0.3960629812496366
],
"position_mm": [
699.8694007459306,
-798.6960051436206,
396.0629812496366
],
"direction": [
-0.551314651966095,
0.7866094708442688,
-0.2780245542526245
]
},
{
"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": [
0.21532336484814485,
-0.07831139166635705,
0.3412071713696926
],
"position_mm": [
215.32336484814485,
-78.31139166635705,
341.20717136969256
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.2672378927838168,
-0.07456591263380213,
0.3402103324484417
],
"position_mm": [
267.23789278381685,
-74.56591263380213,
340.2103324484417
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 47,
"position_m": [
0.34365717041903493,
-0.28830081105124067,
-0.02738800447100018
],
"position_mm": [
343.6571704190349,
-288.30081105124066,
-27.38800447100018
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16837412922171513,
-0.17362449197599014,
-0.027336717938801137
],
"position_mm": [
168.37412922171512,
-173.62449197599014,
-27.336717938801137
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.4875971694082808,
0.21405839219188916,
-0.027357291949129413
],
"position_mm": [
487.5971694082808,
214.05839219188917,
-27.35729194912941
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.33996325055610027,
-0.32773114092412053,
-0.027318068015447183
],
"position_mm": [
339.96325055610026,
-327.73114092412055,
-27.31806801544718
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28451938939273447,
-0.2610574178652026,
-0.027365097710198998
],
"position_mm": [
284.51938939273447,
-261.0574178652026,
-27.365097710199
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04758923455865648,
-0.2166972935811987,
-0.02731072110932811
],
"position_mm": [
47.589234558656486,
-216.69729358119872,
-27.31072110932811
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4017948978305217,
-0.1732773088555254,
-0.02729167622253364
],
"position_mm": [
401.7948978305217,
-173.2773088555254,
-27.291676222533642
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.0188296463722763,
-0.18973635582806628,
-0.027089241682439265
],
"position_mm": [
-18.829646372276297,
-189.73635582806628,
-27.089241682439265
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 66,
"position_m": [
0.20989426160370495,
-0.3636216041051144,
-0.027288154571816842
],
"position_mm": [
209.89426160370493,
-363.6216041051144,
-27.288154571816843
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.006200450760149185,
-0.27790429303902947,
-0.02725792213029395
],
"position_mm": [
6.2004507601491845,
-277.9042930390295,
-27.25792213029395
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.44118199970038113,
0.19309405033743426,
-0.027455597918408573
],
"position_mm": [
441.18199970038114,
193.09405033743425,
-27.45559791840857
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.31151519689610735,
-0.15987140004923323,
-0.02731834465766988
],
"position_mm": [
311.51519689610734,
-159.87140004923322,
-27.318344657669883
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.506283414886915,
-0.313710200507046,
-0.02727440269059755
],
"position_mm": [
506.28341488691495,
-313.710200507046,
-27.27440269059755
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.36170640241201063,
0.29473189856402554,
-0.027260487887658783
],
"position_mm": [
361.7064024120106,
294.7318985640255,
-27.260487887658783
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6467466725075638,
-0.18687706160756462,
-0.02765505889685755
],
"position_mm": [
646.7466725075637,
-186.87706160756463,
-27.65505889685755
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18677090292222637,
-0.2769919266347769,
-0.027409607484519927
],
"position_mm": [
186.77090292222636,
-276.9919266347769,
-27.409607484519928
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.371616391600818,
-0.18443430026801713,
-0.027286219594972627
],
"position_mm": [
371.616391600818,
-184.43430026801713,
-27.28621959497263
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6514052993105747,
-0.22371657744952037,
-0.027752992548264445
],
"position_mm": [
651.4052993105747,
-223.71657744952037,
-27.752992548264444
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10494892701944036,
-0.19104673485271345,
-0.027383460463341155
],
"position_mm": [
104.94892701944036,
-191.04673485271346,
-27.383460463341155
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 105,
"position_m": [
0.5225305479185682,
-0.26800741246890014,
-0.027471367333090194
],
"position_mm": [
522.5305479185682,
-268.00741246890016,
-27.471367333090193
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.2706558699686453,
-0.16090058105535185,
0.23499233686525392
],
"position_mm": [
270.65586996864533,
-160.90058105535184,
234.99233686525392
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 124,
"position_m": [
0.29410172894631553,
-0.12104747295200378,
0.2686927303876621
],
"position_mm": [
294.1017289463155,
-121.04747295200379,
268.6927303876621
],
"link": "Arm2",
"normal": [
-1.0,
0.0,
0.0
]
},
{
"marker_id": 198,
"position_m": [
0.17037152390863064,
-0.05256004197916701,
0.0910178543781913
],
"position_mm": [
170.37152390863065,
-52.56004197916701,
91.0178543781913
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 206,
"position_m": [
0.649182081981186,
-0.010779998228581321,
0.0005820095219582018
],
"position_mm": [
649.182081981186,
-10.779998228581322,
0.5820095219582018
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.35211609875240163,
-0.08920079728784339,
0.00016778481171010989
],
"position_mm": [
352.1160987524016,
-89.20079728784339,
0.1677848117101099
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.021455409151936257,
-0.02218483931692305,
0.0018656822723091648
],
"position_mm": [
21.45540915193626,
-22.184839316923053,
1.8656822723091648
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.25286478310741717,
-0.009470247385167324,
0.0002077696359478637
],
"position_mm": [
252.86478310741717,
-9.470247385167324,
0.20776963594786368
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.34795989777931824,
-0.011948614047031897,
0.0004843404819662731
],
"position_mm": [
347.9598977793182,
-11.948614047031898,
0.4843404819662731
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.2504858715179379,
-0.08875983588144606,
0.0001327015305994425
],
"position_mm": [
250.48587151793788,
-88.75983588144607,
0.13270153059944248
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 218,
"position_m": [
0.22774116662740318,
-0.14984788710523844,
0.16714853404482394
],
"position_mm": [
227.74116662740317,
-149.84788710523844,
167.14853404482395
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 229,
"position_m": [
0.16649992745655395,
-0.1422179474963353,
0.0873458091641346
],
"position_mm": [
166.49992745655396,
-142.21794749633528,
87.34580916413461
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 232,
"position_m": [
0.25844388277665903,
-0.16781991576284588,
0.028678515729139983
],
"position_mm": [
258.44388277665905,
-167.81991576284588,
28.67851572913998
],
"link": "Ellbow",
"normal": [
0.0,
0.7071067811865475,
-0.7071067811865475
]
},
{
"marker_id": 243,
"position_m": [
0.1712339785142025,
-0.1766837762928648,
0.046863537563654314
],
"position_mm": [
171.2339785142025,
-176.6837762928648,
46.86353756365431
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 244,
"position_m": [
0.29537775722911447,
-0.1407435690806215,
0.047821330851258566
],
"position_mm": [
295.3777572291145,
-140.74356908062148,
47.821330851258566
],
"link": "Ellbow",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.2603215814335973,
-0.17704328900868754,
0.05242766844809047
],
"position_mm": [
260.3215814335973,
-177.04328900868754,
52.42766844809047
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.2264192710200634,
-0.1769278473191665,
0.05325900442009224
],
"position_mm": [
226.4192710200634,
-176.9278473191665,
53.25900442009224
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}