Files
appRobotRender/data/evaluations/Scene4/aruco_positions_optimized.json
2026-06-01 16:36:33 +02:00

711 lines
14 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-01T12:31:31Z",
"summary": {
"num_cameras": 7,
"num_markers": 50,
"num_constraints": 89
},
"markers": [
{
"marker_id": 40,
"position_m": [
0.26754171267144905,
-0.36415485234896816,
0.22944715198027135
],
"position_mm": [
267.54171267144903,
-364.1548523489682,
229.44715198027134
],
"link": "FingerA"
},
{
"marker_id": 42,
"position_m": [
0.28744698956709797,
-0.35168719844503543,
0.22878287262176375
],
"position_mm": [
287.44698956709794,
-351.68719844503545,
228.78287262176374
],
"link": "FingerA"
},
{
"marker_id": 44,
"position_m": [
0.3114364422937876,
-0.2851633006382941,
0.21856212483615103
],
"position_mm": [
311.4364422937876,
-285.1633006382941,
218.56212483615104
],
"link": "FingerB"
},
{
"marker_id": 46,
"position_m": [
0.5521916274675002,
0.19505196126720023,
-0.04456252968332251
],
"position_mm": [
552.1916274675002,
195.05196126720023,
-44.562529683322516
],
"link": "Board"
},
{
"marker_id": 47,
"position_m": [
0.34252671317878636,
-0.28837600616335735,
-0.02874581395626228
],
"position_mm": [
342.52671317878634,
-288.3760061633574,
-28.74581395626228
],
"link": "Board"
},
{
"marker_id": 51,
"position_m": [
0.16859652095094246,
-0.1709267815532453,
-0.029962452446950703
],
"position_mm": [
168.59652095094248,
-170.92678155324532,
-29.962452446950703
],
"link": "Board"
},
{
"marker_id": 53,
"position_m": [
0.48845032061694393,
0.21205389012218046,
-0.028438763719903514
],
"position_mm": [
488.45032061694394,
212.05389012218046,
-28.438763719903513
],
"link": "Board"
},
{
"marker_id": 55,
"position_m": [
0.28303216189402614,
-0.26199847747218913,
-0.028336528000963514
],
"position_mm": [
283.03216189402616,
-261.9984774721891,
-28.336528000963515
],
"link": "Board"
},
{
"marker_id": 56,
"position_m": [
0.5135980446553344,
0.1801240888446982,
-0.048462259395897114
],
"position_mm": [
513.5980446553344,
180.12408884469818,
-48.462259395897114
],
"link": "Board"
},
{
"marker_id": 58,
"position_m": [
0.05023036255474454,
-0.21575657555351818,
-0.029863612040348063
],
"position_mm": [
50.230362554744545,
-215.7565755535182,
-29.863612040348062
],
"link": "Board"
},
{
"marker_id": 61,
"position_m": [
-0.010612077308391265,
0.36214629472010434,
-0.058835828435401256
],
"position_mm": [
-10.612077308391266,
362.1462947201043,
-58.835828435401254
],
"link": "Board"
},
{
"marker_id": 62,
"position_m": [
0.40432760940529766,
-0.18006475587491316,
-0.02866224548737516
],
"position_mm": [
404.32760940529766,
-180.06475587491317,
-28.66224548737516
],
"link": "Board"
},
{
"marker_id": 63,
"position_m": [
0.7933691068462405,
-0.24505229595352124,
-0.04332827278678127
],
"position_mm": [
793.3691068462405,
-245.05229595352122,
-43.32827278678127
],
"link": "Board"
},
{
"marker_id": 64,
"position_m": [
-0.021310374783166795,
-0.1864917626478082,
-0.02661954845002057
],
"position_mm": [
-21.310374783166797,
-186.4917626478082,
-26.61954845002057
],
"link": "Board"
},
{
"marker_id": 66,
"position_m": [
0.21033580441055907,
-0.36184321886758075,
-0.02599761467953806
],
"position_mm": [
210.33580441055906,
-361.84321886758073,
-25.99761467953806
],
"link": "Board"
},
{
"marker_id": 68,
"position_m": [
0.5704309948134485,
0.17060499510418098,
-0.018887791239312533
],
"position_mm": [
570.4309948134485,
170.60499510418097,
-18.887791239312534
],
"link": "Board"
},
{
"marker_id": 69,
"position_m": [
0.0139046815836182,
-0.2818955543187457,
-0.0202626239668338
],
"position_mm": [
13.9046815836182,
-281.89555431874567,
-20.2626239668338
],
"link": "Board"
},
{
"marker_id": 72,
"position_m": [
0.44152543604951155,
0.19996106520160864,
-0.03306713157998317
],
"position_mm": [
441.52543604951154,
199.96106520160865,
-33.06713157998317
],
"link": "Board"
},
{
"marker_id": 73,
"position_m": [
0.21806722294445952,
0.34122924655343334,
-0.032547552108283716
],
"position_mm": [
218.0672229444595,
341.2292465534333,
-32.54755210828372
],
"link": "Board"
},
{
"marker_id": 75,
"position_m": [
-0.026903050443930404,
0.1973355566878141,
-0.034757839179643965
],
"position_mm": [
-26.903050443930404,
197.33555668781412,
-34.757839179643966
],
"link": "Board"
},
{
"marker_id": 79,
"position_m": [
0.3120883468595997,
-0.1591635270553482,
-0.03035490943243374
],
"position_mm": [
312.0883468595997,
-159.1635270553482,
-30.35490943243374
],
"link": "Board"
},
{
"marker_id": 82,
"position_m": [
0.21805790943664982,
0.30585531597035254,
-0.039024096159373585
],
"position_mm": [
218.05790943664982,
305.85531597035254,
-39.024096159373585
],
"link": "Board"
},
{
"marker_id": 83,
"position_m": [
0.0425335213527205,
0.3373471292348405,
-0.027135101566798946
],
"position_mm": [
42.533521352720506,
337.3471292348405,
-27.135101566798948
],
"link": "Board"
},
{
"marker_id": 84,
"position_m": [
0.4065514623589491,
0.26325292736705264,
-0.03164014170326309
],
"position_mm": [
406.5514623589491,
263.2529273670526,
-31.64014170326309
],
"link": "Board"
},
{
"marker_id": 85,
"position_m": [
0.5039480089751692,
-0.31406439393536817,
-0.029468173888729306
],
"position_mm": [
503.9480089751692,
-314.0643939353682,
-29.468173888729307
],
"link": "Board"
},
{
"marker_id": 86,
"position_m": [
0.36129730616659245,
0.29594173104616067,
-0.03066481090339598
],
"position_mm": [
361.2973061665924,
295.94173104616067,
-30.66481090339598
],
"link": "Board"
},
{
"marker_id": 92,
"position_m": [
0.6477470633290741,
-0.18755446350368268,
-0.027186029322572934
],
"position_mm": [
647.7470633290741,
-187.55446350368268,
-27.186029322572935
],
"link": "Board"
},
{
"marker_id": 95,
"position_m": [
0.18502424323738215,
-0.27322393103116116,
-0.030191289158347838
],
"position_mm": [
185.02424323738214,
-273.22393103116116,
-30.19128915834784
],
"link": "Board"
},
{
"marker_id": 96,
"position_m": [
0.36859794795615547,
-0.18847444718539946,
-0.0302455105003983
],
"position_mm": [
368.59794795615545,
-188.47444718539947,
-30.2455105003983
],
"link": "Board"
},
{
"marker_id": 97,
"position_m": [
0.3044454984296277,
-0.3518975857511937,
-0.028499971133479313
],
"position_mm": [
304.4454984296277,
-351.8975857511937,
-28.499971133479313
],
"link": "Board"
},
{
"marker_id": 102,
"position_m": [
0.6540979060004576,
-0.22499416189547747,
-0.0331267623329287
],
"position_mm": [
654.0979060004576,
-224.99416189547748,
-33.1267623329287
],
"link": "Board"
},
{
"marker_id": 103,
"position_m": [
0.10666888074218231,
-0.18700147586543833,
-0.027512991052136556
],
"position_mm": [
106.66888074218231,
-187.00147586543832,
-27.512991052136556
],
"link": "Board"
},
{
"marker_id": 105,
"position_m": [
0.5264126387561544,
-0.26859223732736076,
-0.028886158843934702
],
"position_mm": [
526.4126387561544,
-268.59223732736075,
-28.8861588439347
],
"link": "Board"
},
{
"marker_id": 114,
"position_m": [
0.2712682009905615,
-0.24359004573541737,
0.2620424702972379
],
"position_mm": [
271.26820099056147,
-243.59004573541736,
262.04247029723786
],
"link": "Arm2"
},
{
"marker_id": 115,
"position_m": [
0.30525450408486055,
-0.23010780073411682,
0.22867265032504536
],
"position_mm": [
305.25450408486057,
-230.10780073411684,
228.67265032504537
],
"link": "Arm2"
},
{
"marker_id": 120,
"position_m": [
0.2625662059341891,
-0.18190511521069566,
0.2939650850820472
],
"position_mm": [
262.5662059341891,
-181.90511521069567,
293.9650850820472
],
"link": "Arm2"
},
{
"marker_id": 205,
"position_m": [
0.7494635190169779,
-0.09438750644187002,
0.011874659448293403
],
"position_mm": [
749.4635190169779,
-94.38750644187002,
11.874659448293404
],
"link": "Board"
},
{
"marker_id": 206,
"position_m": [
0.6469841760480316,
-0.013840768336592238,
0.007224373860460745
],
"position_mm": [
646.9841760480316,
-13.84076833659224,
7.224373860460745
],
"link": "Board"
},
{
"marker_id": 207,
"position_m": [
0.7468601948033142,
-0.014430249176107532,
0.012165388549118845
],
"position_mm": [
746.8601948033142,
-14.430249176107532,
12.165388549118845
],
"link": "Board"
},
{
"marker_id": 208,
"position_m": [
0.3484725042892376,
-0.09151206474794678,
0.002183207241496229
],
"position_mm": [
348.4725042892376,
-91.51206474794678,
2.183207241496229
],
"link": "Board"
},
{
"marker_id": 210,
"position_m": [
0.018246349225242323,
-0.017730470214900453,
0.00023527095600163288
],
"position_mm": [
18.246349225242323,
-17.730470214900453,
0.2352709560016329
],
"link": "Board"
},
{
"marker_id": 211,
"position_m": [
0.2502132615765682,
-0.011548956453720479,
0.0062323222074483955
],
"position_mm": [
250.21326157656821,
-11.548956453720479,
6.232322207448395
],
"link": "Board"
},
{
"marker_id": 214,
"position_m": [
0.3501746563830133,
-0.011658071915536646,
0.006706704184076964
],
"position_mm": [
350.1746563830133,
-11.658071915536645,
6.706704184076964
],
"link": "Board"
},
{
"marker_id": 215,
"position_m": [
0.2510241960445018,
-0.09147739793535226,
0.0029471622600684808
],
"position_mm": [
251.02419604450182,
-91.47739793535226,
2.9471622600684806
],
"link": "Board"
},
{
"marker_id": 217,
"position_m": [
0.6500112070813467,
-0.09371694608806377,
0.0039579072489725
],
"position_mm": [
650.0112070813467,
-93.71694608806378,
3.9579072489725
],
"link": "Board"
},
{
"marker_id": 218,
"position_m": [
0.23793091485346762,
-0.19025436252979092,
0.3003723677303802
],
"position_mm": [
237.9309148534676,
-190.2543625297909,
300.3723677303802
],
"link": "Arm2"
},
{
"marker_id": 219,
"position_m": [
0.24145246887086727,
-0.2772804241836024,
0.2541320908140835
],
"position_mm": [
241.45246887086728,
-277.2804241836024,
254.1320908140835
],
"link": "Arm2"
},
{
"marker_id": 243,
"position_m": [
0.16466563063932055,
-0.11307099581797364,
0.3423897820597492
],
"position_mm": [
164.66563063932054,
-113.07099581797364,
342.38978205974917
],
"link": "Arm1"
},
{
"marker_id": 246,
"position_m": [
0.2312989671490578,
-0.13675784567214536,
0.3639158231965809
],
"position_mm": [
231.2989671490578,
-136.75784567214535,
363.9158231965809
],
"link": "Ellbow"
},
{
"marker_id": 247,
"position_m": [
0.20029291991888915,
-0.11936100362588432,
0.3519918211243391
],
"position_mm": [
200.29291991888914,
-119.36100362588432,
351.9918211243391
],
"link": "Ellbow"
}
]
}