Files
appRobotRender/data/camera_study/Scene12/k4_bcde/aruco_positions_optimized.json
2026-06-02 23:35:45 +02:00

408 lines
7.6 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-02T21:34:13Z",
"summary": {
"num_cameras": 4,
"num_markers": 17,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "b",
"position_m": [
0.30461140290596656,
-0.8944597684480516,
1.2009159512639083
],
"position_mm": [
304.61140290596654,
-894.4597684480516,
1200.9159512639083
],
"direction": [
0.0052360002882778645,
0.6241788864135742,
-0.7812638878822327
]
},
{
"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": 48,
"position_m": [
0.6866114023999415,
-0.3183052226549162,
-0.028754324321769498
],
"position_mm": [
686.6114023999414,
-318.3052226549162,
-28.7543243217695
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04815210200489052,
-0.21526964107375587,
-0.028419573021040114
],
"position_mm": [
48.15210200489052,
-215.26964107375588,
-28.419573021040115
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7758928566559162,
-0.2351301356535138,
-0.027899793568982402
],
"position_mm": [
775.8928566559163,
-235.13013565351378,
-27.899793568982403
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.023452611073150782,
-0.18602690815826245,
-0.030058350282488662
],
"position_mm": [
-23.45261107315078,
-186.02690815826244,
-30.05835028248866
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.006217621359083084,
-0.27870816827574935,
-0.026629766439172288
],
"position_mm": [
6.217621359083084,
-278.70816827574936,
-26.62976643917229
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.3122292574030912,
-0.15892538424113742,
-0.026605263110397976
],
"position_mm": [
312.2292574030912,
-158.9253842411374,
-26.605263110397978
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.1871888612266199,
-0.2762292218858321,
-0.02756969240920437
],
"position_mm": [
187.1888612266199,
-276.2292218858321,
-27.56969240920437
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.36990709684880335,
-0.18585170964812933,
-0.02744656714492397
],
"position_mm": [
369.90709684880335,
-185.85170964812934,
-27.44656714492397
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.651512098936125,
-0.22346906366781075,
-0.027768152115260725
],
"position_mm": [
651.5120989361251,
-223.46906366781076,
-27.768152115260726
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10722921424403377,
-0.19246567640482148,
-0.0256624688547252
],
"position_mm": [
107.22921424403377,
-192.4656764048215,
-25.6624688547252
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.2648606423218626,
0.0384283479864241,
0.09361506472700125
],
"position_mm": [
264.8606423218626,
38.4283479864241,
93.61506472700125
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.35356985948918196,
-0.09261430674299055,
0.002601708796707114
],
"position_mm": [
353.56985948918197,
-92.61430674299055,
2.601708796707114
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.34813676982212904,
-0.012806761964489505,
0.0014893402139254807
],
"position_mm": [
348.13676982212905,
-12.806761964489505,
1.4893402139254805
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 232,
"position_m": [
0.2445824996070062,
-0.16180594769728532,
0.0802587215272367
],
"position_mm": [
244.5824996070062,
-161.80594769728532,
80.2587215272367
],
"link": "Ellbow",
"normal": [
0.0,
0.7071067811865475,
-0.7071067811865475
]
},
{
"marker_id": 243,
"position_m": [
0.15728770279926596,
-0.17460992571281708,
0.05347445904941482
],
"position_mm": [
157.28770279926596,
-174.60992571281707,
53.47445904941482
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 244,
"position_m": [
0.2874059378221178,
-0.14949810394131172,
0.062080978882213686
],
"position_mm": [
287.40593782211783,
-149.4981039413117,
62.080978882213685
],
"link": "Ellbow",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.2489176371377852,
-0.1375764459414342,
0.09083043435275387
],
"position_mm": [
248.9176371377852,
-137.5764459414342,
90.83043435275387
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}