Files
appRobotRender/data/camera_study/Scene9b/k7_abcdefg/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

1108 lines
21 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-03T04:57:08Z",
"summary": {
"num_cameras": 7,
"num_markers": 51,
"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": "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": "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": [
0.24627644421798375,
-0.11301514059863427,
0.34379833217638206
],
"position_mm": [
246.27644421798377,
-113.01514059863426,
343.7983321763821
],
"link": "FingerA",
"normal": [
0.0,
-0.9375276894468237,
0.34791066600565723
]
},
{
"marker_id": 42,
"position_m": [
0.21405020041632494,
-0.07826744803553352,
0.3422825489983484
],
"position_mm": [
214.05020041632494,
-78.26744803553352,
342.28254899834843
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.2680977860587526,
-0.07572723334446213,
0.3404734944253271
],
"position_mm": [
268.0977860587526,
-75.72723334446214,
340.4734944253271
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 46,
"position_m": [
0.5365891819257929,
0.18385010462047477,
-0.031199394882319133
],
"position_mm": [
536.5891819257929,
183.85010462047478,
-31.199394882319133
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 47,
"position_m": [
0.34444415179708404,
-0.2857876913877695,
-0.028675493785523386
],
"position_mm": [
344.44415179708403,
-285.7876913877695,
-28.675493785523386
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16840550198849524,
-0.1737553329886324,
-0.027125242738251173
],
"position_mm": [
168.40550198849525,
-173.7553329886324,
-27.125242738251174
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.4875119291905611,
0.21100744229217,
-0.025627231971997243
],
"position_mm": [
487.5119291905611,
211.00744229217,
-25.627231971997244
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.3406136216725412,
-0.3296429067689178,
-0.026171229281062892
],
"position_mm": [
340.6136216725412,
-329.6429067689178,
-26.171229281062892
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.2843087998393754,
-0.26094948562222386,
-0.027146027767800833
],
"position_mm": [
284.3087998393754,
-260.94948562222385,
-27.146027767800835
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 56,
"position_m": [
0.49866509663691017,
0.16715477642687612,
-0.02795287950185426
],
"position_mm": [
498.66509663691016,
167.1547764268761,
-27.95287950185426
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.0490307142084219,
-0.2171412756953873,
-0.026387716639856094
],
"position_mm": [
49.0307142084219,
-217.1412756953873,
-26.387716639856095
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.6248619829506028,
-0.2775728354741866,
-0.023725981263819324
],
"position_mm": [
624.8619829506029,
-277.5728354741866,
-23.725981263819325
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 61,
"position_m": [
-0.021390270175435558,
0.33222452573445144,
-0.025543508875848043
],
"position_mm": [
-21.390270175435557,
332.22452573445145,
-25.543508875848044
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4045038795968943,
-0.17377478366705912,
-0.026888790306392973
],
"position_mm": [
404.5038795968943,
-173.77478366705913,
-26.888790306392973
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7750446430956208,
-0.23586522030773766,
-0.027836795232860128
],
"position_mm": [
775.0446430956208,
-235.86522030773764,
-27.836795232860126
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.022309939098486994,
-0.18729935855909605,
-0.02862344600685087
],
"position_mm": [
-22.309939098486993,
-187.29935855909605,
-28.62344600685087
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 66,
"position_m": [
0.21051457087151476,
-0.36481366455554487,
-0.027147159748488355
],
"position_mm": [
210.51457087151476,
-364.81366455554485,
-27.147159748488356
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 68,
"position_m": [
0.575051840655111,
0.17387434022335366,
-0.02793917665641778
],
"position_mm": [
575.0518406551109,
173.87434022335367,
-27.939176656417782
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.004968366288839492,
-0.2791371315143124,
-0.02745684194140415
],
"position_mm": [
4.968366288839492,
-279.1371315143124,
-27.45684194140415
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 71,
"position_m": [
0.7507081673894495,
-0.28544578588416797,
-0.025690987144844475
],
"position_mm": [
750.7081673894495,
-285.44578588416795,
-25.690987144844474
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.44209957263797495,
0.19351326312745645,
-0.026755644288873167
],
"position_mm": [
442.099572637975,
193.51326312745644,
-26.755644288873167
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 73,
"position_m": [
0.2212400598035274,
0.33082161324595366,
-0.027014623767141182
],
"position_mm": [
221.2400598035274,
330.82161324595364,
-27.01462376714118
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 75,
"position_m": [
-0.027207367642905447,
0.1923095366762221,
-0.026916219359785224
],
"position_mm": [
-27.207367642905446,
192.3095366762221,
-26.916219359785224
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.3121377052356895,
-0.15864831411419023,
-0.027244794072085778
],
"position_mm": [
312.1377052356895,
-158.6483141141902,
-27.244794072085778
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5061604157584259,
-0.3140487649374397,
-0.027160023027819228
],
"position_mm": [
506.16041575842587,
-314.0487649374397,
-27.16002302781923
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.36161791189559495,
0.2950220870211962,
-0.02709546991050167
],
"position_mm": [
361.61791189559494,
295.0220870211962,
-27.09546991050167
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6472891559164369,
-0.185346872341644,
-0.028493737463265407
],
"position_mm": [
647.2891559164369,
-185.34687234164397,
-28.493737463265408
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.1861808723340746,
-0.2758247440929337,
-0.02785377054944059
],
"position_mm": [
186.1808723340746,
-275.8247440929337,
-27.85377054944059
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.36975649808728667,
-0.18570349188577742,
-0.026497657038926013
],
"position_mm": [
369.7564980872867,
-185.70349188577742,
-26.49765703892601
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 97,
"position_m": [
0.3049313963807595,
-0.36075176669913145,
-0.032696773411141467
],
"position_mm": [
304.9313963807595,
-360.75176669913145,
-32.696773411141464
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6516953712358432,
-0.22352663867846062,
-0.028009489876748526
],
"position_mm": [
651.6953712358433,
-223.5266386784606,
-28.009489876748525
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10670175583481681,
-0.19084496654473035,
-0.02690162082232327
],
"position_mm": [
106.70175583481681,
-190.84496654473034,
-26.90162082232327
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 105,
"position_m": [
0.5234782426060214,
-0.26641460841183096,
-0.02910831664261172
],
"position_mm": [
523.4782426060214,
-266.41460841183095,
-29.10831664261172
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.3079800937531121,
-0.24898441232527452,
0.26705722584224356
],
"position_mm": [
307.9800937531121,
-248.98441232527452,
267.05722584224355
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 124,
"position_m": [
0.34136794560254713,
-0.29654572065665913,
0.2779262287891234
],
"position_mm": [
341.36794560254714,
-296.5457206566591,
277.9262287891234
],
"link": "Arm2",
"normal": [
-1.0,
0.0,
0.0
]
},
{
"marker_id": 198,
"position_m": [
0.15368146592285295,
-0.05526831857234176,
0.0956526847782377
],
"position_mm": [
153.68146592285294,
-55.26831857234176,
95.6526847782377
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 205,
"position_m": [
0.7526609507114579,
-0.08998871835550022,
0.0002711506577811119
],
"position_mm": [
752.6609507114579,
-89.98871835550023,
0.2711506577811119
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 206,
"position_m": [
0.6493070651381543,
-0.01067829412681865,
0.0005861729147238017
],
"position_mm": [
649.3070651381543,
-10.67829412681865,
0.5861729147238017
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.35229577412455704,
-0.09112396919621792,
0.0008097275820591095
],
"position_mm": [
352.29577412455706,
-91.12396919621791,
0.8097275820591094
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.021763346756640913,
-0.02005468110684392,
0.0005837102837557925
],
"position_mm": [
21.763346756640914,
-20.05468110684392,
0.5837102837557925
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.2526773936566136,
-0.009363467116533705,
9.472476396094137e-06
],
"position_mm": [
252.67739365661362,
-9.363467116533705,
0.009472476396094137
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.34772006514464104,
-0.01125676547173777,
0.000272135650139928
],
"position_mm": [
347.72006514464107,
-11.25676547173777,
0.272135650139928
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.2501262543418889,
-0.08932147561550126,
0.000460945420443912
],
"position_mm": [
250.1262543418889,
-89.32147561550126,
0.46094542044391196
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 217,
"position_m": [
0.6465447053707781,
-0.0906279450249009,
-6.363246050426327e-05
],
"position_mm": [
646.5447053707782,
-90.6279450249009,
-0.06363246050426327
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 218,
"position_m": [
0.22771168996057944,
-0.1498615159965524,
0.16710634425606458
],
"position_mm": [
227.71168996057943,
-149.86151599655238,
167.10634425606457
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 229,
"position_m": [
0.1674411635847197,
-0.14372718862145528,
0.086395762024075
],
"position_mm": [
167.4411635847197,
-143.72718862145527,
86.39576202407501
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 232,
"position_m": [
0.2252225285721374,
-0.05288166435875206,
-0.005193909690549074
],
"position_mm": [
225.2225285721374,
-52.881664358752055,
-5.193909690549074
],
"link": "Ellbow",
"normal": [
0.0,
0.7071067811865475,
-0.7071067811865475
]
},
{
"marker_id": 243,
"position_m": [
0.17049270281163117,
-0.17489681581956076,
0.04806583961873567
],
"position_mm": [
170.49270281163118,
-174.89681581956077,
48.06583961873567
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 244,
"position_m": [
0.27866546231047373,
-0.07755223060010782,
0.017457820867005886
],
"position_mm": [
278.66546231047374,
-77.55223060010782,
17.457820867005886
],
"link": "Ellbow",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.23206608754133962,
-0.0780921336667921,
0.0007756559687435454
],
"position_mm": [
232.0660875413396,
-78.09213366679211,
0.7756559687435455
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.22109245129492988,
-0.11152769356680074,
0.013742516574370766
],
"position_mm": [
221.09245129492987,
-111.52769356680074,
13.742516574370766
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}