Files
appRobotRender/data/camera_study/Scene12/k4_acde/aruco_positions_optimized.json
2026-06-02 23:35:45 +02:00

275 lines
5.2 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-02T21:33:43Z",
"summary": {
"num_cameras": 4,
"num_markers": 10,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.29940769598056693,
-0.7968572832052518,
0.8013043562141825
],
"position_mm": [
-299.4076959805669,
-796.8572832052519,
801.3043562141825
],
"direction": [
0.47903624176979065,
0.6561309099197388,
-0.5831093788146973
]
},
{
"camera_id": "c",
"position_m": [
0.2064071124379028,
-0.926187065022701,
0.3357318521749194
],
"position_mm": [
206.4071124379028,
-926.187065022701,
335.7318521749194
],
"direction": [
0.0031979582272469997,
0.9754828810691833,
-0.2200520932674408
]
},
{
"camera_id": "d",
"position_m": [
0.7059955951329147,
-0.792357011835109,
0.3960723600448604
],
"position_mm": [
705.9955951329147,
-792.357011835109,
396.07236004486043
],
"direction": [
-0.5582603812217712,
0.781305193901062,
-0.27911919355392456
]
},
{
"camera_id": "e",
"position_m": [
1.2103337331165203,
-0.9172186262611701,
0.4058150319226835
],
"position_mm": [
1210.3337331165203,
-917.2186262611701,
405.8150319226835
],
"direction": [
-0.7488687634468079,
0.6081039905548096,
-0.2634483873844147
]
}
],
"markers": [
{
"marker_id": 79,
"position_m": [
0.31195510280184574,
-0.15943152293541096,
-0.02662615705043619
],
"position_mm": [
311.9551028018457,
-159.43152293541095,
-26.62615705043619
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18713890195834726,
-0.27589751614956826,
-0.02771560683631049
],
"position_mm": [
187.13890195834725,
-275.8975161495683,
-27.71560683631049
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.36978175787247874,
-0.18604644198974293,
-0.0270637717745834
],
"position_mm": [
369.78175787247875,
-186.04644198974293,
-27.0637717745834
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6516644074666503,
-0.22360764449885556,
-0.027683719241540648
],
"position_mm": [
651.6644074666503,
-223.60764449885556,
-27.683719241540647
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10541267076864451,
-0.19088881037190533,
-0.026800352213615385
],
"position_mm": [
105.4126707686445,
-190.88881037190532,
-26.800352213615387
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.2645546802188578,
0.038425175794498403,
0.0935959702344579
],
"position_mm": [
264.5546802188578,
38.4251757944984,
93.5959702344579
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 232,
"position_m": [
0.24558706386388926,
-0.16477726934305448,
0.08185285822222384
],
"position_mm": [
245.58706386388926,
-164.77726934305448,
81.85285822222384
],
"link": "Ellbow",
"normal": [
0.0,
0.7071067811865475,
-0.7071067811865475
]
},
{
"marker_id": 243,
"position_m": [
0.1580995203861218,
-0.176035724548722,
0.05443444077014569
],
"position_mm": [
158.09952038612178,
-176.035724548722,
54.43444077014569
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 244,
"position_m": [
0.2877605343204473,
-0.15005520681616427,
0.06242452151347884
],
"position_mm": [
287.7605343204473,
-150.05520681616426,
62.42452151347884
],
"link": "Ellbow",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.24999209437400474,
-0.1408499975221596,
0.09306463105514852
],
"position_mm": [
249.99209437400475,
-140.8499975221596,
93.06463105514852
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}