Files
appRobotRender/data/camera_study/Scene4/k3_acf/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

523 lines
9.8 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-02T22:51:23Z",
"summary": {
"num_cameras": 3,
"num_markers": 24,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.3001274357176493,
-0.7979520803678932,
0.8009902676185592
],
"position_mm": [
-300.12743571764935,
-797.9520803678932,
800.9902676185592
],
"direction": [
0.4789915382862091,
0.6567302346229553,
-0.5824710726737976
]
},
{
"camera_id": "c",
"position_m": [
0.30222042083446865,
-0.9015130863831495,
0.39827613859571753
],
"position_mm": [
302.22042083446865,
-901.5130863831496,
398.27613859571755
],
"direction": [
-0.10769812762737274,
0.9494794607162476,
-0.2947707772254944
]
},
{
"camera_id": "f",
"position_m": [
0.4848910479147168,
-0.3064199973610857,
1.40194389878924
],
"position_mm": [
484.8910479147168,
-306.41999736108573,
1401.9438987892402
],
"direction": [
-0.22731362283229828,
0.08567609637975693,
-0.9700454473495483
]
}
],
"markers": [
{
"marker_id": 42,
"position_m": [
0.2923798757910669,
-0.3616008322174246,
0.18928471493484042
],
"position_mm": [
292.37987579106687,
-361.6008322174246,
189.28471493484042
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 44,
"position_m": [
0.31959810943148637,
-0.29052510009941146,
0.18635938681508502
],
"position_mm": [
319.59810943148636,
-290.5251000994115,
186.359386815085
],
"link": "FingerB",
"normal": [
0.0,
-0.9375276894468237,
-0.34791066600565723
]
},
{
"marker_id": 47,
"position_m": [
0.34481681240503126,
-0.28644513415082923,
-0.029241632581994203
],
"position_mm": [
344.81681240503127,
-286.44513415082923,
-29.241632581994203
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16709912617482092,
-0.1735424939515338,
-0.027437261396442345
],
"position_mm": [
167.09912617482092,
-173.5424939515338,
-27.437261396442345
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04916401655235575,
-0.2192255446089358,
-0.02508900880835512
],
"position_mm": [
49.16401655235575,
-219.22554460893582,
-25.089008808355118
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 61,
"position_m": [
-0.022058360726602787,
0.33290830094053875,
-0.025848246742774996
],
"position_mm": [
-22.05836072660279,
332.90830094053877,
-25.848246742774997
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4030703866003484,
-0.17113847453478773,
-0.029078868339638148
],
"position_mm": [
403.0703866003484,
-171.13847453478772,
-29.07886833963815
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.02102105815838397,
-0.186859916960707,
-0.028491607722311137
],
"position_mm": [
-21.021058158383973,
-186.859916960707,
-28.491607722311137
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 75,
"position_m": [
-0.02740278936359992,
0.19241829937712832,
-0.026061733722173894
],
"position_mm": [
-27.402789363599922,
192.4182993771283,
-26.061733722173894
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.3124743290322484,
-0.15849641688702196,
-0.028037235513277872
],
"position_mm": [
312.4743290322484,
-158.49641688702195,
-28.03723551327787
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.36972031050774895,
-0.1862810314358155,
-0.026196483773746143
],
"position_mm": [
369.72031050774893,
-186.28103143581552,
-26.19648377374614
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 97,
"position_m": [
0.30605224054228103,
-0.35828489223185095,
-0.026987608838613817
],
"position_mm": [
306.052240542281,
-358.28489223185096,
-26.987608838613816
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10512300815892675,
-0.18960538785681894,
-0.02808627597444632
],
"position_mm": [
105.12300815892675,
-189.60538785681894,
-28.08627597444632
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 114,
"position_m": [
0.28057955678587787,
-0.23663383202324278,
0.2215488865264486
],
"position_mm": [
280.57955678587786,
-236.63383202324277,
221.5488865264486
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 120,
"position_m": [
0.27980313759372766,
-0.1708086120924476,
0.24534889193039225
],
"position_mm": [
279.8031375937277,
-170.80861209244762,
245.34889193039226
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 208,
"position_m": [
0.3521219125254873,
-0.09096952682136192,
0.0007279932998745455
],
"position_mm": [
352.1219125254873,
-90.96952682136192,
0.7279932998745454
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.021866965426014778,
-0.019268436692715118,
0.0004913573889197359
],
"position_mm": [
21.866965426014776,
-19.268436692715117,
0.4913573889197359
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.3479202661221155,
-0.011084466405864378,
-0.00012120516884822035
],
"position_mm": [
347.9202661221155,
-11.084466405864378,
-0.12120516884822034
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.2510498933714422,
-0.0887918441201602,
2.6235160748195776e-05
],
"position_mm": [
251.04989337144218,
-88.79184412016019,
0.026235160748195777
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 218,
"position_m": [
0.2533039674724678,
-0.16898905363829955,
0.24186659542224487
],
"position_mm": [
253.3039674724678,
-168.98905363829957,
241.86659542224487
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 219,
"position_m": [
0.2547422171392545,
-0.27082044333481625,
0.20572694966835997
],
"position_mm": [
254.74221713925448,
-270.8204433348163,
205.72694966835996
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 243,
"position_m": [
0.18053125640913387,
-0.07848660214406684,
0.27781862335032004
],
"position_mm": [
180.53125640913387,
-78.48660214406685,
277.81862335032
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 246,
"position_m": [
0.2690953107083039,
-0.0687855686096295,
0.28562804636810835
],
"position_mm": [
269.0953107083039,
-68.78556860962951,
285.62804636810836
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 247,
"position_m": [
0.2320982639636323,
-0.06298441913308582,
0.2875829808410612
],
"position_mm": [
232.09826396363232,
-62.98441913308582,
287.5829808410612
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
}
]
}