Files
appRobotRender/data/camera_study/Scene12/k4_adeg/aruco_positions_initial.json
2026-06-02 23:35:45 +02:00

523 lines
9.8 KiB
JSON

{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-02T21:34:01Z",
"summary": {
"num_cameras": 4,
"num_markers": 23,
"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": "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
]
},
{
"camera_id": "g",
"position_m": [
-0.20357531848645133,
0.2063757854729154,
1.4019736717044806
],
"position_mm": [
-203.57531848645132,
206.3757854729154,
1401.9736717044807
],
"direction": [
0.2981155812740326,
-0.30005064606666565,
-0.906143844127655
]
}
],
"markers": [
{
"marker_id": 48,
"position_m": [
0.6873042654854101,
-0.31907038829305645,
-0.028372045598816408
],
"position_mm": [
687.3042654854102,
-319.07038829305645,
-28.37204559881641
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.3398630052855715,
-0.3275273691264821,
-0.026829770822007763
],
"position_mm": [
339.8630052855715,
-327.52736912648214,
-26.829770822007763
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4022144927516424,
-0.17289028524817146,
-0.02784586431942344
],
"position_mm": [
402.2144927516424,
-172.89028524817147,
-27.84586431942344
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7757671114496867,
-0.23623689021565883,
-0.02761650752316203
],
"position_mm": [
775.7671114496867,
-236.23689021565883,
-27.616507523162028
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.018915420682205156,
-0.1899255064545756,
-0.026770246068476285
],
"position_mm": [
-18.915420682205156,
-189.92550645457558,
-26.770246068476286
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.006606562565881499,
-0.2780624128189378,
-0.026849413672808038
],
"position_mm": [
6.606562565881498,
-278.0624128189378,
-26.849413672808037
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.31161502538379415,
-0.15912209084453402,
-0.027103509101762138
],
"position_mm": [
311.61502538379415,
-159.12209084453403,
-27.10350910176214
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5063166973372345,
-0.31363767894863676,
-0.027126678652193665
],
"position_mm": [
506.3166973372345,
-313.63767894863673,
-27.126678652193664
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.3614111415931641,
0.2942429922391023,
-0.026132710348409114
],
"position_mm": [
361.41114159316413,
294.24299223910225,
-26.132710348409113
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18756526299418644,
-0.27676225290486023,
-0.027009423771606814
],
"position_mm": [
187.56526299418644,
-276.76225290486025,
-27.009423771606816
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3696971382533574,
-0.1861958647525948,
-0.026090091866643704
],
"position_mm": [
369.6971382533574,
-186.19586475259482,
-26.090091866643704
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.65163458137196,
-0.2236784393526702,
-0.027767996352787323
],
"position_mm": [
651.6345813719599,
-223.6784393526702,
-27.767996352787325
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10499416413469036,
-0.1911511899268266,
-0.026902451512051832
],
"position_mm": [
104.99416413469035,
-191.1511899268266,
-26.902451512051833
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.26444020273486635,
0.03910674620444697,
0.09323152929868699
],
"position_mm": [
264.4402027348664,
39.10674620444697,
93.23152929868698
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 198,
"position_m": [
0.1608812964262505,
-0.05127108579364033,
0.09621881608096679
],
"position_mm": [
160.8812964262505,
-51.27108579364033,
96.21881608096679
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 205,
"position_m": [
0.7532397266234664,
-0.09049361314734285,
-0.0007442447732692729
],
"position_mm": [
753.2397266234664,
-90.49361314734284,
-0.7442447732692729
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.35238237108316833,
-0.08874059137991101,
0.0007326877907824076
],
"position_mm": [
352.3823710831683,
-88.74059137991101,
0.7326877907824076
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 217,
"position_m": [
0.6473887455896572,
-0.08921209707028005,
-0.0008006697702991521
],
"position_mm": [
647.3887455896572,
-89.21209707028005,
-0.8006697702991521
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.15712197665783997,
-0.1408248709399191,
0.0965212918386242
],
"position_mm": [
157.12197665783998,
-140.8248709399191,
96.52129183862421
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 232,
"position_m": [
0.24893742564566435,
-0.1665376285696332,
0.08451197119759063
],
"position_mm": [
248.93742564566435,
-166.5376285696332,
84.51197119759063
],
"link": "Ellbow",
"normal": [
0.0,
0.7071067811865475,
-0.7071067811865475
]
},
{
"marker_id": 243,
"position_m": [
0.15790167995229576,
-0.18088828633113066,
0.05993503064087538
],
"position_mm": [
157.90167995229575,
-180.88828633113067,
59.93503064087538
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 244,
"position_m": [
0.2955844479013393,
-0.15991945931142107,
0.06684887890420602
],
"position_mm": [
295.58444790133933,
-159.91945931142106,
66.84887890420602
],
"link": "Ellbow",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.25007604564851477,
-0.14379504341007157,
0.09599302411137713
],
"position_mm": [
250.07604564851476,
-143.79504341007157,
95.99302411137712
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}