Files
appRobotRender/data/camera_study/Scene9b/k5_bcdfg/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

920 lines
17 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-03T04:50:00Z",
"summary": {
"num_cameras": 5,
"num_markers": 43,
"num_constraints": 94
},
"cameras": [
{
"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": "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": "f",
"position_m": [
0.4868524979390756,
-0.3053064794581952,
1.4026599785486356
],
"position_mm": [
486.8524979390756,
-305.3064794581952,
1402.6599785486355
],
"direction": [
-0.2289382964372635,
0.08377356827259064,
-0.9698294997215271
]
},
{
"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": 41,
"position_m": [
0.2458081274366244,
-0.11253567220954756,
0.34393037119602615
],
"position_mm": [
245.8081274366244,
-112.53567220954756,
343.93037119602616
],
"link": "FingerA",
"normal": [
0.0,
-0.9375276894468237,
0.34791066600565723
]
},
{
"marker_id": 42,
"position_m": [
0.21350656613968078,
-0.07787056165197195,
0.34214927989223254
],
"position_mm": [
213.50656613968079,
-77.87056165197195,
342.1492798922325
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.2676022114827952,
-0.07541422751746067,
0.3402156848076276
],
"position_mm": [
267.6022114827952,
-75.41422751746067,
340.2156848076276
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 46,
"position_m": [
0.5364780026621858,
0.18371940826767538,
-0.03097223860655854
],
"position_mm": [
536.4780026621859,
183.7194082676754,
-30.972238606558538
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 47,
"position_m": [
0.3441586723373368,
-0.2867312971301271,
-0.027287062838755274
],
"position_mm": [
344.15867233733684,
-286.73129713012713,
-27.287062838755276
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.1684406516798368,
-0.1739676202221755,
-0.026955874747628398
],
"position_mm": [
168.4406516798368,
-173.9676202221755,
-26.955874747628396
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.48716119818329157,
0.21043136009392893,
-0.023182021679424084
],
"position_mm": [
487.16119818329156,
210.43136009392893,
-23.182021679424082
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.34096283475984007,
-0.3296239043308614,
-0.03699534603559655
],
"position_mm": [
340.96283475984006,
-329.6239043308614,
-36.995346035596555
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28442695115632055,
-0.2608928344510767,
-0.027097441685050395
],
"position_mm": [
284.42695115632057,
-260.8928344510767,
-27.097441685050395
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 56,
"position_m": [
0.498693814502364,
0.16680537353561298,
-0.027259955044757516
],
"position_mm": [
498.693814502364,
166.80537353561297,
-27.259955044757515
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.049066228240175015,
-0.2171951299953792,
-0.026173049979241338
],
"position_mm": [
49.066228240175015,
-217.1951299953792,
-26.173049979241338
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.624803380606607,
-0.2774372526999744,
-0.02379943150191186
],
"position_mm": [
624.803380606607,
-277.43725269997435,
-23.799431501911858
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 61,
"position_m": [
-0.021390248125177074,
0.33222448062826415,
-0.025543439494721133
],
"position_mm": [
-21.390248125177074,
332.22448062826413,
-25.543439494721135
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4041300080201521,
-0.17454168912876447,
-0.025101145084162294
],
"position_mm": [
404.1300080201521,
-174.54168912876446,
-25.101145084162294
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.775045704888316,
-0.2358644992057065,
-0.0278392928300306
],
"position_mm": [
775.045704888316,
-235.86449920570652,
-27.8392928300306
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.02220125037068902,
-0.18719796646458045,
-0.028652179983211228
],
"position_mm": [
-22.20125037068902,
-187.19796646458045,
-28.652179983211226
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 66,
"position_m": [
0.21073410937528206,
-0.3649905232003606,
-0.02897792639741025
],
"position_mm": [
210.73410937528206,
-364.9905232003606,
-28.97792639741025
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 68,
"position_m": [
0.5749923355559006,
0.1738808273806826,
-0.027911247136800238
],
"position_mm": [
574.9923355559006,
173.8808273806826,
-27.911247136800238
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.005010963109166877,
-0.2791924325121505,
-0.027434584825284578
],
"position_mm": [
5.010963109166877,
-279.1924325121505,
-27.434584825284578
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 71,
"position_m": [
0.7507092027295149,
-0.28544504277730376,
-0.02569327623560407
],
"position_mm": [
750.7092027295149,
-285.44504277730374,
-25.693276235604067
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.44170839069805307,
0.19327887375644048,
-0.026253184741110366
],
"position_mm": [
441.70839069805305,
193.27887375644048,
-26.253184741110367
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.31247243227978616,
-0.15884916646990602,
-0.026800653075022246
],
"position_mm": [
312.4724322797862,
-158.849166469906,
-26.800653075022247
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.3616680804099285,
0.294690656788026,
-0.026646098485403818
],
"position_mm": [
361.6680804099285,
294.690656788026,
-26.64609848540382
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6466760668016264,
-0.1852597951704109,
-0.027796515700621027
],
"position_mm": [
646.6760668016263,
-185.2597951704109,
-27.79651570062103
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18643865952015226,
-0.27599826415546314,
-0.027647641390582015
],
"position_mm": [
186.43865952015227,
-275.9982641554631,
-27.647641390582017
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.36955303707966897,
-0.1867452595564131,
-0.02279021958280855
],
"position_mm": [
369.55303707966897,
-186.74525955641312,
-22.790219582808547
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 97,
"position_m": [
0.3051219990526262,
-0.3588841910049774,
-0.02504378800264942
],
"position_mm": [
305.1219990526262,
-358.8841910049774,
-25.04378800264942
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6516387420304811,
-0.22337427223899692,
-0.027852659573835932
],
"position_mm": [
651.6387420304811,
-223.37427223899692,
-27.852659573835933
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10663300584962594,
-0.190679080044593,
-0.02699618631370223
],
"position_mm": [
106.63300584962595,
-190.679080044593,
-26.99618631370223
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 105,
"position_m": [
0.5233420051987255,
-0.2668274508127618,
-0.028815494552162285
],
"position_mm": [
523.3420051987256,
-266.8274508127618,
-28.815494552162285
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.2703292998370967,
-0.1610589011027693,
0.23556367124906757
],
"position_mm": [
270.3292998370967,
-161.05890110276928,
235.56367124906757
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 198,
"position_m": [
0.17071238113583279,
-0.0530085564177018,
0.09110747230446363
],
"position_mm": [
170.7123811358328,
-53.008556417701804,
91.10747230446363
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 205,
"position_m": [
0.7526609559104755,
-0.08998871501272543,
0.00027113987833252617
],
"position_mm": [
752.6609559104755,
-89.98871501272544,
0.2711398783325262
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.3522445784015925,
-0.09102004744666477,
0.0010676453665680733
],
"position_mm": [
352.2445784015925,
-91.02004744666476,
1.0676453665680734
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.02124679118287968,
-0.019747872714778025,
0.0003139019414716107
],
"position_mm": [
21.24679118287968,
-19.747872714778026,
0.3139019414716107
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.2533153992183923,
-0.011026134372122433,
0.0010377674559399418
],
"position_mm": [
253.31539921839232,
-11.026134372122433,
1.037767455939942
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.34779578236938546,
-0.01114755721134839,
0.00029924545727346655
],
"position_mm": [
347.79578236938545,
-11.14755721134839,
0.2992454572734666
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 217,
"position_m": [
0.6465664556160502,
-0.09031890811570865,
-0.00010688999233764371
],
"position_mm": [
646.5664556160502,
-90.31890811570865,
-0.10688999233764371
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.1670524406009765,
-0.142791743584115,
0.08604907609833284
],
"position_mm": [
167.0524406009765,
-142.791743584115,
86.04907609833285
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 232,
"position_m": [
0.2589058665198131,
-0.1691979594026163,
0.029282163452370617
],
"position_mm": [
258.9058665198131,
-169.1979594026163,
29.282163452370618
],
"link": "Ellbow",
"normal": [
0.0,
0.7071067811865475,
-0.7071067811865475
]
},
{
"marker_id": 243,
"position_m": [
0.1696477773593759,
-0.17304324666457097,
0.04695767223101892
],
"position_mm": [
169.64777735937588,
-173.04324666457097,
46.95767223101892
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.26180088679468017,
-0.1791408634894727,
0.05398809471694239
],
"position_mm": [
261.80088679468014,
-179.1408634894727,
53.988094716942385
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.22469171634322235,
-0.17412725089971504,
0.05198429798053094
],
"position_mm": [
224.69171634322234,
-174.12725089971502,
51.98429798053094
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}