Files
appRobotRender/data/camera_study/Scene9b/k4_bdef/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

769 lines
14 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-03T04:43:10Z",
"summary": {
"num_cameras": 4,
"num_markers": 36,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "b",
"position_m": [
0.305490949597657,
-0.8933107144337022,
1.201793445382242
],
"position_mm": [
305.490949597657,
-893.3107144337023,
1201.793445382242
],
"direction": [
0.004346273839473724,
0.6234733462333679,
-0.7818325161933899
]
},
{
"camera_id": "d",
"position_m": [
0.6998694007459306,
-0.7986960051436206,
0.3960629812496366
],
"position_mm": [
699.8694007459306,
-798.6960051436206,
396.0629812496366
],
"direction": [
-0.551314651966095,
0.7866094708442688,
-0.2780245542526245
]
},
{
"camera_id": "e",
"position_m": [
1.199993510216928,
-0.898854507188056,
0.3991201451566491
],
"position_mm": [
1199.993510216928,
-898.854507188056,
399.12014515664913
],
"direction": [
-0.7501824498176575,
0.6059012413024902,
-0.26478278636932373
]
},
{
"camera_id": "f",
"position_m": [
0.4868524979390756,
-0.3053064794581952,
1.4026599785486356
],
"position_mm": [
486.8524979390756,
-305.3064794581952,
1402.6599785486355
],
"direction": [
-0.2289382964372635,
0.08377356827259064,
-0.9698294997215271
]
}
],
"markers": [
{
"marker_id": 42,
"position_m": [
0.21542773790104258,
-0.08168059020265273,
0.3484095723039958
],
"position_mm": [
215.42773790104258,
-81.68059020265272,
348.4095723039958
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.2678522122869202,
-0.07553079512664171,
0.34039537415313365
],
"position_mm": [
267.8522122869202,
-75.5307951266417,
340.3953741531337
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 46,
"position_m": [
0.5368439690509751,
0.1855697802877023,
-0.032913038821314806
],
"position_mm": [
536.843969050975,
185.5697802877023,
-32.91303882131481
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 47,
"position_m": [
0.3437886531320937,
-0.2860044769852359,
-0.02851840973658727
],
"position_mm": [
343.7886531320937,
-286.0044769852359,
-28.51840973658727
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.1681979861257664,
-0.17372700105612957,
-0.027322378504785114
],
"position_mm": [
168.1979861257664,
-173.72700105612955,
-27.322378504785114
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.4874888777491404,
0.21135979243598618,
-0.025689951957366265
],
"position_mm": [
487.4888777491404,
211.35979243598618,
-25.689951957366265
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.34096225476894,
-0.32994947303306854,
-0.026263420667855992
],
"position_mm": [
340.96225476894,
-329.94947303306856,
-26.263420667855993
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28388869976863035,
-0.26057027768695123,
-0.02772160815883428
],
"position_mm": [
283.8886997686304,
-260.5702776869512,
-27.721608158834282
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 56,
"position_m": [
0.4992864933625662,
0.1679034320948042,
-0.030711343600737375
],
"position_mm": [
499.2864933625662,
167.9034320948042,
-30.711343600737376
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04833274550317292,
-0.21620350866768068,
-0.027083949748694523
],
"position_mm": [
48.33274550317292,
-216.20350866768067,
-27.083949748694522
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 61,
"position_m": [
-0.021390257931905705,
0.3322245006890587,
-0.025543470351714975
],
"position_mm": [
-21.390257931905705,
332.2245006890587,
-25.543470351714976
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4041203780367995,
-0.1733746268103659,
-0.02655802099064966
],
"position_mm": [
404.12037803679954,
-173.3746268103659,
-26.558020990649663
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.023079901744987943,
-0.18663296260519596,
-0.030380065820381795
],
"position_mm": [
-23.079901744987943,
-186.63296260519596,
-30.380065820381795
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 66,
"position_m": [
0.2106257532295241,
-0.36468825183268805,
-0.02668972929787004
],
"position_mm": [
210.6257532295241,
-364.688251832688,
-26.68972929787004
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 68,
"position_m": [
0.5749651734133763,
0.1746185984399462,
-0.02886740526183825
],
"position_mm": [
574.9651734133763,
174.6185984399462,
-28.86740526183825
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.005067375984094587,
-0.2787661895032758,
-0.027471859737238254
],
"position_mm": [
5.067375984094587,
-278.7661895032758,
-27.471859737238255
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.442214846023053,
0.19349835355679645,
-0.026602076050342382
],
"position_mm": [
442.214846023053,
193.49835355679645,
-26.602076050342383
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 73,
"position_m": [
0.22124005944738537,
0.33082161375241115,
-0.027014624256885954
],
"position_mm": [
221.24005944738536,
330.82161375241117,
-27.014624256885956
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.3121252263777172,
-0.15875386010455128,
-0.026832678714051813
],
"position_mm": [
312.12522637771724,
-158.75386010455128,
-26.832678714051813
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.36194995304258726,
0.29502026816106003,
-0.027054865053504424
],
"position_mm": [
361.94995304258725,
295.02026816106,
-27.054865053504425
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.1860159005815193,
-0.27578695871619946,
-0.028294887611046312
],
"position_mm": [
186.01590058151928,
-275.7869587161995,
-28.294887611046313
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3696364626265046,
-0.186047120233466,
-0.026867193919385645
],
"position_mm": [
369.6364626265046,
-186.04712023346602,
-26.867193919385645
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10666779723815539,
-0.19141544827296902,
-0.026535212909814834
],
"position_mm": [
106.66779723815539,
-191.41544827296903,
-26.535212909814835
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.3171545913793199,
-0.21993090430218773,
0.2651513769558932
],
"position_mm": [
317.15459137931987,
-219.93090430218774,
265.15137695589317
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 124,
"position_m": [
0.35879911358682265,
-0.2582186181437505,
0.28230067969814876
],
"position_mm": [
358.79911358682267,
-258.2186181437505,
282.30067969814877
],
"link": "Arm2",
"normal": [
-1.0,
0.0,
0.0
]
},
{
"marker_id": 206,
"position_m": [
0.6494153947825555,
-0.010992367177542801,
0.0006909861689961811
],
"position_mm": [
649.4153947825555,
-10.992367177542802,
0.690986168996181
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.35249432007628595,
-0.09119975928470235,
0.0008446923732674242
],
"position_mm": [
352.49432007628593,
-91.19975928470235,
0.8446923732674242
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.02207271892727784,
-0.019954861046503968,
0.0003763019788752313
],
"position_mm": [
22.07271892727784,
-19.954861046503968,
0.3763019788752313
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.25333430496622655,
-0.010621765661144318,
0.0006606331952338927
],
"position_mm": [
253.33430496622654,
-10.621765661144318,
0.6606331952338927
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.3476401978648241,
-0.011349258089274604,
0.0002681577117428942
],
"position_mm": [
347.6401978648241,
-11.349258089274604,
0.2681577117428942
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.16691462146042238,
-0.14306178474265202,
0.08575238111452062
],
"position_mm": [
166.91462146042238,
-143.061784742652,
85.75238111452062
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 232,
"position_m": [
0.15364768036519327,
-0.01450057146740076,
-0.03740083820072562
],
"position_mm": [
153.64768036519328,
-14.50057146740076,
-37.40083820072562
],
"link": "Ellbow",
"normal": [
0.0,
0.7071067811865475,
-0.7071067811865475
]
},
{
"marker_id": 243,
"position_m": [
0.16930822225964012,
-0.17377254428371494,
0.04700783661245795
],
"position_mm": [
169.30822225964013,
-173.77254428371495,
47.00783661245795
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 244,
"position_m": [
0.2061220144384683,
-0.039217329850699235,
-0.009268199166069196
],
"position_mm": [
206.1220144384683,
-39.21732985069924,
-9.268199166069197
],
"link": "Ellbow",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.1611681839324149,
-0.03912204466789616,
-0.02998490119550498
],
"position_mm": [
161.16818393241488,
-39.122044667896155,
-29.984901195504982
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.15809620249313477,
-0.07324422007213272,
-0.014734169347711174
],
"position_mm": [
158.09620249313477,
-73.24422007213272,
-14.734169347711175
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}