Files
appRobotRender/data/camera_study/Scene11/k3_cdg/aruco_positions_initial.json
2026-06-02 23:35:45 +02:00

258 lines
4.9 KiB
JSON

{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-02T21:24:24Z",
"summary": {
"num_cameras": 3,
"num_markers": 10,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "c",
"position_m": [
0.280082177793039,
-0.9114096774406122,
0.3947187862124093
],
"position_mm": [
280.082177793039,
-911.4096774406122,
394.7187862124093
],
"direction": [
-0.08651693910360336,
0.953553318977356,
-0.2885323166847229
]
},
{
"camera_id": "d",
"position_m": [
0.6955577422885929,
-0.7981988629911659,
0.3941665952931933
],
"position_mm": [
695.5577422885929,
-798.1988629911659,
394.1665952931933
],
"direction": [
-0.5480054020881653,
0.7889851331710815,
-0.2778353989124298
]
},
{
"camera_id": "g",
"position_m": [
-0.20053208486216448,
0.21110583157164756,
1.40705022910809
],
"position_mm": [
-200.53208486216448,
211.10583157164757,
1407.05022910809
],
"direction": [
0.2950038015842438,
-0.3022984266281128,
-0.9064151644706726
]
}
],
"markers": [
{
"marker_id": 40,
"position_m": [
0.29576930089846926,
0.1233561319210678,
0.1284092422466248
],
"position_mm": [
295.7693008984693,
123.3561319210678,
128.4092422466248
],
"link": "FingerA",
"normal": [
-0.4224220616915755,
0.0,
-0.9063992507699015
]
},
{
"marker_id": 64,
"position_m": [
-0.018947352379261925,
-0.18928256192858384,
-0.026194635263329012
],
"position_mm": [
-18.947352379261925,
-189.28256192858385,
-26.194635263329012
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.4408575544220631,
0.19363136273404047,
-0.02679255683525943
],
"position_mm": [
440.8575544220631,
193.63136273404047,
-26.79255683525943
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10456103589500733,
-0.19078432319282296,
-0.02665752574334851
],
"position_mm": [
104.56103589500732,
-190.78432319282297,
-26.657525743348508
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.35206763654477524,
-0.08909977866501971,
0.00043502863065295614
],
"position_mm": [
352.06763654477527,
-89.09977866501971,
0.43502863065295616
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.3487374343300215,
-0.014472897253848782,
0.0020038459657548543
],
"position_mm": [
348.73743433002153,
-14.472897253848782,
2.0038459657548544
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.24855775812429784,
-0.086516129795667,
-0.0010112428326066675
],
"position_mm": [
248.55775812429783,
-86.516129795667,
-1.0112428326066676
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 232,
"position_m": [
0.24364820017502567,
-0.16012959885146352,
0.09985140504322566
],
"position_mm": [
243.64820017502566,
-160.12959885146353,
99.85140504322567
],
"link": "Ellbow",
"normal": [
0.0,
0.7071067811865475,
-0.7071067811865475
]
},
{
"marker_id": 243,
"position_m": [
0.15408967998302658,
-0.16891495407538523,
0.072208019728943
],
"position_mm": [
154.08967998302657,
-168.91495407538522,
72.208019728943
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.25016851963285125,
-0.1422593276558925,
0.11297582414704807
],
"position_mm": [
250.16851963285126,
-142.2593276558925,
112.97582414704807
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}