Files
appRobotRender/data/evaluations/Scene9/v8/aruco_positions_optimized.json
2026-06-01 20:47:39 +02:00

923 lines
17 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-01T17:39:45Z",
"summary": {
"num_cameras": 7,
"num_markers": 48,
"num_constraints": 163
},
"markers": [
{
"marker_id": 41,
"position_m": [
0.15713392862090453,
-0.2416989061052508,
0.5552827001989805
],
"position_mm": [
157.13392862090453,
-241.69890610525079,
555.2827001989805
],
"link": "FingerA",
"normal": [
0.0,
-0.9375276894468237,
0.34791066600565723
]
},
{
"marker_id": 42,
"position_m": [
0.1479206585855855,
-0.19726420703716735,
0.5690351925925898
],
"position_mm": [
147.9206585855855,
-197.26420703716735,
569.0351925925899
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.19954393633774076,
-0.17868114374099459,
0.5441410607893239
],
"position_mm": [
199.54393633774075,
-178.6811437409946,
544.1410607893239
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 46,
"position_m": [
0.5367100000929597,
0.18544000008392653,
-0.027299999925764113
],
"position_mm": [
536.7100000929597,
185.44000008392652,
-27.299999925764112
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 47,
"position_m": [
0.34423000004138743,
-0.28653999991663465,
-0.02729999984725271
],
"position_mm": [
344.2300000413874,
-286.53999991663466,
-27.29999984725271
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16779999996393855,
-0.17207999996353737,
-0.027299999917780163
],
"position_mm": [
167.79999996393855,
-172.07999996353738,
-27.299999917780163
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.4862500000517348,
0.21224000012342684,
-0.0272999998529145
],
"position_mm": [
486.2500000517348,
212.24000012342682,
-27.2999998529145
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.3422700000437526,
-0.33058999996416577,
-0.027299999980765946
],
"position_mm": [
342.2700000437526,
-330.58999996416577,
-27.299999980765946
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28371999999534064,
-0.2625799999426046,
-0.027299999890894776
],
"position_mm": [
283.71999999534063,
-262.5799999426046,
-27.299999890894778
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 56,
"position_m": [
0.49868000007035296,
0.16867000005226573,
-0.027299999952448827
],
"position_mm": [
498.68000007035295,
168.67000005226572,
-27.299999952448825
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.05008999994519926,
-0.21810999987817428,
-0.02729999984143486
],
"position_mm": [
50.08999994519926,
-218.10999987817428,
-27.29999984143486
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 60,
"position_m": [
0.4343599999899137,
0.2838100000510186,
-0.02729999991307023
],
"position_mm": [
434.3599999899137,
283.81000005101856,
-27.29999991307023
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 61,
"position_m": [
-0.022419999971302798,
0.3358300000719934,
-0.02729999993911315
],
"position_mm": [
-22.419999971302797,
335.83000007199337,
-27.29999993911315
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4047000000289361,
-0.17509999991515432,
-0.027299999853498125
],
"position_mm": [
404.7000000289361,
-175.0999999151543,
-27.299999853498125
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7774000000739654,
-0.2361500000173091,
-0.027299999964334062
],
"position_mm": [
777.4000000739653,
-236.1500000173091,
-27.299999964334063
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.02127000007871142,
-0.18822999986024366,
-0.027299999770135076
],
"position_mm": [
-21.27000007871142,
-188.22999986024365,
-27.299999770135077
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 66,
"position_m": [
0.20975000000209715,
-0.363229999906965,
-0.027299999886950692
],
"position_mm": [
209.75000000209715,
-363.22999990696496,
-27.29999988695069
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 68,
"position_m": [
0.5737300000365086,
0.17064000005345875,
-0.027299999959023245
],
"position_mm": [
573.7300000365086,
170.64000005345875,
-27.299999959023246
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.00761000004242595,
-0.2812099999289154,
-0.02729999998318098
],
"position_mm": [
7.61000004242595,
-281.20999992891535,
-27.299999983180978
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.4409900000354066,
0.19432000020221737,
-0.027299999713418663
],
"position_mm": [
440.99000003540664,
194.3200002022174,
-27.299999713418664
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 75,
"position_m": [
-0.02570000001322527,
0.19458000011081336,
-0.027299999917136667
],
"position_mm": [
-25.700000013225267,
194.58000011081336,
-27.299999917136667
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.312300000016258,
-0.15910999989937752,
-0.027299999860245398
],
"position_mm": [
312.300000016258,
-159.10999989937753,
-27.299999860245396
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 83,
"position_m": [
0.044159999992374944,
0.33922000010889536,
-0.027299999906729017
],
"position_mm": [
44.15999999237494,
339.22000010889536,
-27.299999906729017
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 84,
"position_m": [
0.4074900000152712,
0.25842000018675926,
-0.027299999735366415
],
"position_mm": [
407.49000001527116,
258.42000018675924,
-27.299999735366416
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5045800000185344,
-0.3127499999345801,
-0.027299999823630846
],
"position_mm": [
504.5800000185344,
-312.7499999345801,
-27.299999823630845
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.3628899999968834,
0.2920100001214097,
-0.02729999977788188
],
"position_mm": [
362.8899999968834,
292.0100001214097,
-27.29999977788188
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6450900000418279,
-0.18483999992149241,
-0.027299999804719477
],
"position_mm": [
645.0900000418279,
-184.83999992149242,
-27.299999804719477
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.1860399999967906,
-0.27406999993259007,
-0.02729999989753723
],
"position_mm": [
186.0399999967906,
-274.06999993259006,
-27.29999989753723
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.36977000002277416,
-0.18648999991230544,
-0.02729999985668438
],
"position_mm": [
369.7700000227742,
-186.48999991230545,
-27.29999985668438
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 97,
"position_m": [
0.3043499999947372,
-0.35966999991822723,
-0.027299999877075903
],
"position_mm": [
304.34999999473723,
-359.66999991822723,
-27.299999877075905
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6496900000995376,
-0.22299999998754086,
-0.02729999992976496
],
"position_mm": [
649.6900000995375,
-222.99999998754086,
-27.29999992976496
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10570999992031617,
-0.18770999986209555,
-0.02729999976984459
],
"position_mm": [
105.70999992031616,
-187.70999986209554,
-27.29999976984459
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 105,
"position_m": [
0.5248400000183366,
-0.2662499999346213,
-0.027299999824223993
],
"position_mm": [
524.8400000183367,
-266.24999993462126,
-27.299999824223992
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.2804165953039367,
-0.19872244751640883,
0.3505887458428963
],
"position_mm": [
280.4165953039367,
-198.72244751640883,
350.5887458428963
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 124,
"position_m": [
0.3179512440276115,
-0.23900721775693098,
0.3721039418447169
],
"position_mm": [
317.9512440276115,
-239.00721775693097,
372.1039418447169
],
"link": "Arm2",
"normal": [
-1.0,
0.0,
0.0
]
},
{
"marker_id": 198,
"position_m": [
0.1305694369342163,
-0.0738931537004449,
0.19069456152916994
],
"position_mm": [
130.5694369342163,
-73.8931537004449,
190.69456152916993
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 205,
"position_m": [
0.7500000000651522,
-0.08999999999118834,
0.00030000004390770064
],
"position_mm": [
750.0000000651522,
-89.99999999118833,
0.30000004390770063
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 206,
"position_m": [
0.6500000000075417,
-0.009999999882410456,
0.0003000001917369764
],
"position_mm": [
650.0000000075416,
-9.999999882410457,
0.3000001917369764
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 207,
"position_m": [
0.7500000000486273,
-0.009999999939664835,
0.00030000006839689885
],
"position_mm": [
750.0000000486273,
-9.999999939664834,
0.30000006839689886
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.3499999999386543,
-0.08999999975261576,
0.00030000042723117164
],
"position_mm": [
349.99999993865435,
-89.99999975261576,
0.30000042723117165
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.019999999971557846,
-0.019999999802751654,
0.00030000020400658975
],
"position_mm": [
19.999999971557845,
-19.999999802751653,
0.3000002040065898
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.24999999993167737,
-0.009999999908451308,
0.00030000022431341585
],
"position_mm": [
249.99999993167737,
-9.999999908451308,
0.30000022431341583
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.34999999993241016,
-0.009999999774234655,
0.00030000038849146895
],
"position_mm": [
349.99999993241016,
-9.999999774234654,
0.30000038849146893
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 217,
"position_m": [
0.650000000043315,
-0.08999999989818294,
0.000300000219976508
],
"position_mm": [
650.000000043315,
-89.99999989818293,
0.300000219976508
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.16640168506027175,
-0.15182653993183387,
0.16344669721760172
],
"position_mm": [
166.40168506027175,
-151.82653993183388,
163.44669721760172
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 243,
"position_m": [
0.1684798904699227,
-0.17155983163860805,
0.11809996732683645
],
"position_mm": [
168.4798904699227,
-171.55983163860805,
118.09996732683645
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 244,
"position_m": [
0.25553896045148,
-0.02006453590532172,
0.06102532438145439
],
"position_mm": [
255.53896045148,
-20.06453590532172,
61.02532438145439
],
"link": "Ellbow",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.2406129407047614,
-0.06726361904699338,
0.060863852611482507
],
"position_mm": [
240.6129407047614,
-67.26361904699338,
60.86385261148251
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}