Files
appRobotRender/data/camera_study/Scene10/k3_abf/aruco_positions_optimized.json

561 lines
10 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-02T22:35:26Z",
"summary": {
"num_cameras": 3,
"num_markers": 26,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.29933086093117556,
-0.799418281839035,
0.8013386735184777
],
"position_mm": [
-299.33086093117555,
-799.418281839035,
801.3386735184777
],
"direction": [
0.47817692160606384,
0.6576254963874817,
-0.5821301937103271
]
},
{
"camera_id": "b",
"position_m": [
0.3032080331514599,
-0.8954064004634189,
1.2012942891546714
],
"position_mm": [
303.2080331514599,
-895.4064004634189,
1201.2942891546713
],
"direction": [
0.005782749503850937,
0.6244387030601501,
-0.7810524106025696
]
},
{
"camera_id": "f",
"position_m": [
0.48447032537390755,
-0.3056860451708503,
1.4030927838623561
],
"position_mm": [
484.47032537390754,
-305.6860451708503,
1403.092783862356
],
"direction": [
-0.2268645018339157,
0.08511359244585037,
-0.9702000617980957
]
}
],
"markers": [
{
"marker_id": 47,
"position_m": [
0.344872227980913,
-0.285073897939649,
-0.03143016651550026
],
"position_mm": [
344.872227980913,
-285.073897939649,
-31.430166515500265
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16700631887332593,
-0.17444926210749503,
-0.025891896354220702
],
"position_mm": [
167.00631887332594,
-174.44926210749503,
-25.8918963542207
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.48779727201417955,
0.2133454849240495,
-0.02479275348533003
],
"position_mm": [
487.79727201417955,
213.34548492404952,
-24.79275348533003
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.3398750501871461,
-0.3285630089908697,
-0.026142418289381908
],
"position_mm": [
339.8750501871461,
-328.5630089908697,
-26.142418289381908
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.2845919289905986,
-0.2608369780414383,
-0.02763534277536527
],
"position_mm": [
284.5919289905986,
-260.8369780414383,
-27.63534277536527
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4016644069779143,
-0.17304943837477102,
-0.027828213389374825
],
"position_mm": [
401.66440697791427,
-173.04943837477103,
-27.828213389374824
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.01965977228731217,
-0.1884068861653073,
-0.028581807301438677
],
"position_mm": [
-19.65977228731217,
-188.4068861653073,
-28.581807301438676
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.005387783813752628,
-0.27718561529635405,
-0.028725518417530446
],
"position_mm": [
5.387783813752628,
-277.18561529635406,
-28.725518417530445
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.442768900428819,
0.1955280319745608,
-0.029750639362916352
],
"position_mm": [
442.768900428819,
195.5280319745608,
-29.750639362916353
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 75,
"position_m": [
-0.027448885668632163,
0.1926398437810037,
-0.026109561869874075
],
"position_mm": [
-27.448885668632162,
192.63984378100372,
-26.109561869874074
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.506351081186413,
-0.31353395946887236,
-0.027654667111455335
],
"position_mm": [
506.351081186413,
-313.53395946887235,
-27.654667111455336
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.186545851078748,
-0.27617288981820337,
-0.028166175075422083
],
"position_mm": [
186.545851078748,
-276.1728898182034,
-28.166175075422082
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 97,
"position_m": [
0.3041012147597672,
-0.3601778877311039,
-0.024069200263459135
],
"position_mm": [
304.1012147597672,
-360.17788773110385,
-24.069200263459134
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6506496532964678,
-0.22406764829245043,
-0.02714195869540798
],
"position_mm": [
650.6496532964678,
-224.06764829245043,
-27.14195869540798
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10491566403682026,
-0.18996136261885396,
-0.027787598978289058
],
"position_mm": [
104.91566403682026,
-189.96136261885397,
-27.787598978289058
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.30965492124044636,
-0.15596107363559772,
0.15797558142572546
],
"position_mm": [
309.65492124044636,
-155.96107363559773,
157.97558142572547
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 205,
"position_m": [
0.7523093215211043,
-0.09083060961463339,
0.0008346340150468042
],
"position_mm": [
752.3093215211043,
-90.83060961463339,
0.8346340150468042
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 206,
"position_m": [
0.6500123085938552,
-0.010129749719406483,
0.0003763093512072362
],
"position_mm": [
650.0123085938552,
-10.129749719406483,
0.37630935120723624
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.021557510339485133,
-0.020545166296238707,
0.0012491713748413356
],
"position_mm": [
21.557510339485134,
-20.54516629623871,
1.2491713748413356
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.25309340711613837,
-0.008692479028847573,
-0.00011457923176328382
],
"position_mm": [
253.09340711613837,
-8.692479028847574,
-0.11457923176328381
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.347807910175868,
-0.011649294441395425,
0.0011185463630914389
],
"position_mm": [
347.80791017586796,
-11.649294441395424,
1.118546363091439
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.2503001632101795,
-0.08864128819362872,
0.0005062843649424625
],
"position_mm": [
250.3001632101795,
-88.64128819362872,
0.5062843649424625
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 231,
"position_m": [
0.3178066697150719,
-0.021322238874038946,
0.3134795864903713
],
"position_mm": [
317.80666971507185,
-21.322238874038945,
313.4795864903713
],
"link": "Ellbow",
"normal": [
0.0,
0.7071067811865475,
0.7071067811865475
]
},
{
"marker_id": 243,
"position_m": [
0.22916700510228374,
-0.03948904278962731,
0.3086720540374003
],
"position_mm": [
229.16700510228375,
-39.48904278962731,
308.6720540374003
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 246,
"position_m": [
0.31883199824928526,
-0.04470988005227605,
0.3004562876316581
],
"position_mm": [
318.8319982492853,
-44.70988005227605,
300.4562876316581
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 247,
"position_m": [
0.2815490392367006,
-0.04344116689728757,
0.30428071051817984
],
"position_mm": [
281.5490392367006,
-43.441166897287566,
304.28071051817983
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
}
]
}