Files
appRobotRender/data/camera_study/Scene4/k4_cefg/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

674 lines
13 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-02T22:52:12Z",
"summary": {
"num_cameras": 4,
"num_markers": 31,
"num_constraints": 94
},
"cameras": [
{
"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": "e",
"position_m": [
1.2059563341749637,
-0.9025538118437437,
0.4061715893081437
],
"position_mm": [
1205.9563341749638,
-902.5538118437437,
406.17158930814367
],
"direction": [
-0.750444233417511,
0.60433429479599,
-0.2676071226596832
]
},
{
"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
]
},
{
"camera_id": "g",
"position_m": [
-0.20647920852698148,
0.20854052825566233,
1.3996693000606282
],
"position_mm": [
-206.4792085269815,
208.54052825566234,
1399.669300060628
],
"direction": [
0.30005520582199097,
-0.30117395520210266,
-0.9051304459571838
]
}
],
"markers": [
{
"marker_id": 40,
"position_m": [
0.28662937175176,
-0.3461376754321473,
0.20748165720635098
],
"position_mm": [
286.62937175176,
-346.1376754321473,
207.48165720635097
],
"link": "FingerA",
"normal": [
-0.4224220616915755,
0.0,
-0.9063992507699015
]
},
{
"marker_id": 44,
"position_m": [
0.319522750723817,
-0.29136685068645674,
0.1872617700449206
],
"position_mm": [
319.52275072381696,
-291.36685068645676,
187.26177004492058
],
"link": "FingerB",
"normal": [
0.0,
-0.9375276894468237,
-0.34791066600565723
]
},
{
"marker_id": 46,
"position_m": [
0.5366168173129094,
0.18333804306979093,
-0.032108881539432386
],
"position_mm": [
536.6168173129095,
183.33804306979093,
-32.10888153943239
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 48,
"position_m": [
0.6892732987048201,
-0.3206118953648786,
-0.02610479877818094
],
"position_mm": [
689.2732987048201,
-320.6118953648786,
-26.10479877818094
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.1675628254636248,
-0.17341018549075607,
-0.027691446497969174
],
"position_mm": [
167.5628254636248,
-173.41018549075608,
-27.691446497969174
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.48779808729983853,
0.21113442582705522,
-0.02421145234547559
],
"position_mm": [
487.7980872998385,
211.13442582705522,
-24.21145234547559
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 56,
"position_m": [
0.49866217534733664,
0.16722823827171016,
-0.026871377717735453
],
"position_mm": [
498.66217534733664,
167.22823827171015,
-26.871377717735452
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 57,
"position_m": [
0.6028437866141625,
-0.3634283702071923,
-0.02806955690785679
],
"position_mm": [
602.8437866141625,
-363.4283702071923,
-28.06955690785679
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04914869830143964,
-0.21852800488842763,
-0.02558562007635149
],
"position_mm": [
49.148698301439644,
-218.52800488842763,
-25.585620076351493
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.6269944406284336,
-0.27835664620907563,
-0.02713617310023583
],
"position_mm": [
626.9944406284336,
-278.3566462090756,
-27.13617310023583
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4032344772191419,
-0.172331481628803,
-0.027967513486888324
],
"position_mm": [
403.2344772191419,
-172.331481628803,
-27.967513486888326
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7756815371735645,
-0.23656229817354635,
-0.027485359019732754
],
"position_mm": [
775.6815371735645,
-236.56229817354634,
-27.485359019732755
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.021356693959607997,
-0.1868076002931915,
-0.02838746612394315
],
"position_mm": [
-21.356693959608,
-186.80760029319148,
-28.387466123943152
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 68,
"position_m": [
0.5751429875215485,
0.17396183365256312,
-0.027944519801842573
],
"position_mm": [
575.1429875215484,
173.96183365256312,
-27.944519801842574
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.004620226367448799,
-0.2797122585601547,
-0.03332222642337239
],
"position_mm": [
4.620226367448799,
-279.7122585601547,
-33.32222642337239
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.44249562138941195,
0.19398052244512623,
-0.02901001797718617
],
"position_mm": [
442.49562138941195,
193.98052244512624,
-29.01001797718617
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.3123939071069938,
-0.15877879070763626,
-0.027848387581895687
],
"position_mm": [
312.39390710699377,
-158.77879070763626,
-27.848387581895686
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5059105963982918,
-0.31431393621990944,
-0.02712904419168486
],
"position_mm": [
505.91059639829183,
-314.31393621990946,
-27.129044191684862
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3695195800009676,
-0.18682051235559896,
-0.02617823059410447
],
"position_mm": [
369.51958000096755,
-186.82051235559896,
-26.17823059410447
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6509293244962707,
-0.22280631479997706,
-0.027943630104187732
],
"position_mm": [
650.9293244962707,
-222.80631479997706,
-27.943630104187733
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10573318958155918,
-0.19004052039339128,
-0.0276822194962598
],
"position_mm": [
105.73318958155919,
-190.0405203933913,
-27.6822194962598
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 114,
"position_m": [
0.2805279723089406,
-0.23663762549569012,
0.22177784196861505
],
"position_mm": [
280.5279723089406,
-236.63762549569012,
221.77784196861506
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 120,
"position_m": [
0.28003737648592614,
-0.1705810749464402,
0.24493594452731746
],
"position_mm": [
280.03737648592613,
-170.5810749464402,
244.93594452731745
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 208,
"position_m": [
0.3523507918182028,
-0.0912899268269263,
0.0005760797003202767
],
"position_mm": [
352.35079181820277,
-91.2899268269263,
0.5760797003202767
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.021960679914284843,
-0.019340775693825953,
0.0006774146907277419
],
"position_mm": [
21.960679914284842,
-19.340775693825954,
0.677414690727742
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 218,
"position_m": [
0.2534297813032514,
-0.16949180711691994,
0.24202226190589066
],
"position_mm": [
253.4297813032514,
-169.49180711691994,
242.02226190589064
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 219,
"position_m": [
0.2548330931234544,
-0.2708343641239858,
0.20574712909545523
],
"position_mm": [
254.83309312345443,
-270.83436412398584,
205.74712909545522
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 231,
"position_m": [
0.26883127077541363,
-0.03716619241265565,
0.2833879282933783
],
"position_mm": [
268.83127077541366,
-37.166192412655654,
283.38792829337825
],
"link": "Ellbow",
"normal": [
0.0,
0.7071067811865475,
0.7071067811865475
]
},
{
"marker_id": 243,
"position_m": [
0.19421867852612337,
-0.018729649085165855,
0.2281743164843154
],
"position_mm": [
194.21867852612337,
-18.729649085165853,
228.1743164843154
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 246,
"position_m": [
0.2691377294712314,
-0.06394140455030596,
0.28418267949874687
],
"position_mm": [
269.13772947123135,
-63.94140455030596,
284.1826794987469
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 247,
"position_m": [
0.23179589292711122,
-0.06185662917290329,
0.28692026680797106
],
"position_mm": [
231.79589292711123,
-61.85662917290329,
286.9202668079711
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
}
]
}