Files
appRobotRender/data/camera_study/Scene10/k3_bdg/aruco_positions_initial.json

524 lines
9.7 KiB
JSON

{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-02T22:35:31Z",
"summary": {
"num_cameras": 3,
"num_markers": 24,
"num_constraints": 94
},
"cameras": [
{
"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": "d",
"position_m": [
0.7026420377142895,
-0.794595122683283,
0.4010946796990027
],
"position_mm": [
702.6420377142895,
-794.5951226832831,
401.0946796990027
],
"direction": [
-0.5536129474639893,
0.7829245924949646,
-0.2837987542152405
]
},
{
"camera_id": "g",
"position_m": [
-0.2061597004485399,
0.2066972923859535,
1.4011416040110074
],
"position_mm": [
-206.1597004485399,
206.6972923859535,
1401.1416040110073
],
"direction": [
0.2996947467327118,
-0.3001376986503601,
-0.9055939316749573
]
}
],
"markers": [
{
"marker_id": 47,
"position_m": [
0.34376654762038256,
-0.28839563095466614,
-0.02760537942584299
],
"position_mm": [
343.76654762038254,
-288.39563095466616,
-27.60537942584299
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 48,
"position_m": [
0.6869553120509962,
-0.31828288284648676,
-0.026714386151434642
],
"position_mm": [
686.9553120509962,
-318.28288284648676,
-26.714386151434642
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16791244327108318,
-0.17356576866439072,
-0.02748782876628542
],
"position_mm": [
167.9124432710832,
-173.56576866439073,
-27.487828766285418
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.4882162799182303,
0.2145787188045998,
-0.027009952548570484
],
"position_mm": [
488.2162799182303,
214.57871880459982,
-27.009952548570485
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.339841934667412,
-0.3277465381175194,
-0.026516689054223226
],
"position_mm": [
339.84193466741203,
-327.74653811751944,
-26.516689054223225
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.2844629212143551,
-0.2610707104386771,
-0.027225119001680127
],
"position_mm": [
284.4629212143551,
-261.07071043867705,
-27.225119001680127
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.6271865903718744,
-0.27675395886676263,
-0.026907347912707404
],
"position_mm": [
627.1865903718744,
-276.7539588667626,
-26.907347912707404
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7745703446602326,
-0.23669721919029751,
-0.02692049447484487
],
"position_mm": [
774.5703446602325,
-236.69721919029752,
-26.920494474844872
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.01884321403035284,
-0.1897498250154755,
-0.027136995944053673
],
"position_mm": [
-18.84321403035284,
-189.7498250154755,
-27.136995944053673
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.006150609479969763,
-0.2777950294615375,
-0.027010644320756547
],
"position_mm": [
6.150609479969763,
-277.7950294615375,
-27.010644320756548
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 71,
"position_m": [
0.7509604864944157,
-0.28551125075942685,
-0.02674480689368867
],
"position_mm": [
750.9604864944157,
-285.51125075942684,
-26.744806893688672
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.441421275570027,
0.19353518392648628,
-0.027474752620069133
],
"position_mm": [
441.42127557002703,
193.53518392648627,
-27.474752620069133
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5068041661114264,
-0.3135045828070479,
-0.02781607148385666
],
"position_mm": [
506.8041661114264,
-313.5045828070479,
-27.81607148385666
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6466795964899504,
-0.187063834404983,
-0.027344911707301592
],
"position_mm": [
646.6795964899504,
-187.063834404983,
-27.34491170730159
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18670280180648224,
-0.2767750701934641,
-0.02712429999447797
],
"position_mm": [
186.70280180648226,
-276.7750701934641,
-27.12429999447797
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6509379503738589,
-0.22390846020799526,
-0.027109690309085218
],
"position_mm": [
650.9379503738589,
-223.90846020799526,
-27.109690309085217
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10497805201041903,
-0.19080856212389075,
-0.027006345982441688
],
"position_mm": [
104.97805201041903,
-190.80856212389074,
-27.006345982441687
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.3103743137123175,
-0.15428307632816093,
0.15665617276472968
],
"position_mm": [
310.3743137123175,
-154.28307632816094,
156.6561727647297
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 205,
"position_m": [
0.7524289457637402,
-0.09025863172893372,
0.0004226980684333642
],
"position_mm": [
752.4289457637402,
-90.25863172893372,
0.4226980684333642
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.25050098796217085,
-0.08866387046146879,
-7.820550617432224e-05
],
"position_mm": [
250.50098796217085,
-88.66387046146879,
-0.07820550617432225
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 218,
"position_m": [
0.3536314171939221,
-0.09947516209694193,
0.19956923774735225
],
"position_mm": [
353.6314171939221,
-99.47516209694193,
199.56923774735225
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 243,
"position_m": [
0.23001007116575176,
-0.036080233689634644,
0.30535428122393937
],
"position_mm": [
230.01007116575175,
-36.080233689634646,
305.3542812239394
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 246,
"position_m": [
0.3209492607624974,
-0.04460980298778073,
0.29718427648412704
],
"position_mm": [
320.94926076249743,
-44.60980298778073,
297.18427648412705
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 247,
"position_m": [
0.2818068163969561,
-0.04051140855357585,
0.3014757489894613
],
"position_mm": [
281.8068163969561,
-40.51140855357585,
301.4757489894613
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
}
]
}