Files
appRobotRender/data/camera_study/Scene4/k3_bcg/aruco_positions_optimized.json
2026-06-03 07:04:27 +02:00

580 lines
11 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-02T22:51:07Z",
"summary": {
"num_cameras": 3,
"num_markers": 27,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "b",
"position_m": [
0.30646773723406184,
-0.8952954576450594,
1.2012608829797486
],
"position_mm": [
306.4677372340618,
-895.2954576450594,
1201.2608829797487
],
"direction": [
0.00400501536205411,
0.6243181228637695,
-0.7811599373817444
]
},
{
"camera_id": "c",
"position_m": [
0.30222042083446865,
-0.9015130863831495,
0.39827613859571753
],
"position_mm": [
302.22042083446865,
-901.5130863831496,
398.27613859571755
],
"direction": [
-0.10769812762737274,
0.9494794607162476,
-0.2947707772254944
]
},
{
"camera_id": "g",
"position_m": [
-0.20647920852698148,
0.20854052825566233,
1.3996693000606282
],
"position_mm": [
-206.4792085269815,
208.54052825566234,
1399.669300060628
],
"direction": [
0.30005520582199097,
-0.30117395520210266,
-0.9051304459571838
]
}
],
"markers": [
{
"marker_id": 42,
"position_m": [
0.29242390268356433,
-0.3622179272336433,
0.18952723588288917
],
"position_mm": [
292.42390268356434,
-362.2179272336433,
189.52723588288916
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 44,
"position_m": [
0.3200700837868151,
-0.2883927085651677,
0.18556167439406826
],
"position_mm": [
320.07008378681513,
-288.3927085651677,
185.56167439406826
],
"link": "FingerB",
"normal": [
0.0,
-0.9375276894468237,
-0.34791066600565723
]
},
{
"marker_id": 48,
"position_m": [
0.6876264954311976,
-0.3185562658924686,
-0.027651601783647898
],
"position_mm": [
687.6264954311976,
-318.5562658924686,
-27.651601783647898
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 50,
"position_m": [
0.5710545002010081,
0.21025313973663654,
-0.026524327215766225
],
"position_mm": [
571.0545002010081,
210.25313973663654,
-26.524327215766224
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16770409830685074,
-0.1735612869741696,
-0.027643203325340003
],
"position_mm": [
167.70409830685074,
-173.56128697416958,
-27.643203325340004
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.0491526280579866,
-0.218263233376422,
-0.025959900376629437
],
"position_mm": [
49.1526280579866,
-218.263233376422,
-25.959900376629438
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.6246955680512385,
-0.2774044348516869,
-0.024266922437433024
],
"position_mm": [
624.6955680512385,
-277.4044348516869,
-24.266922437433024
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.40356481307912573,
-0.17449785325306685,
-0.027047331493114835
],
"position_mm": [
403.5648130791257,
-174.49785325306686,
-27.047331493114836
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7753255712923428,
-0.23640345435155616,
-0.027857829088882582
],
"position_mm": [
775.3255712923428,
-236.40345435155615,
-27.857829088882582
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.02127487049330509,
-0.1863635305554718,
-0.028684507966518173
],
"position_mm": [
-21.274870493305087,
-186.3635305554718,
-28.684507966518172
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.004835378058029039,
-0.2800795587098942,
-0.026892844500090208
],
"position_mm": [
4.835378058029039,
-280.07955870989423,
-26.89284450009021
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 71,
"position_m": [
0.7509926722356329,
-0.2860114389960787,
-0.026422795558899797
],
"position_mm": [
750.9926722356329,
-286.0114389960787,
-26.422795558899796
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5069973256839253,
-0.3141662008758017,
-0.027628860920692774
],
"position_mm": [
506.9973256839253,
-314.16620087580174,
-27.628860920692773
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.3618571572028421,
0.2948975779876867,
-0.026799685721393234
],
"position_mm": [
361.85715720284213,
294.8975779876867,
-26.799685721393235
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3707599616920369,
-0.1906048613571915,
-0.023273823466237308
],
"position_mm": [
370.7599616920369,
-190.6048613571915,
-23.273823466237307
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6518555021622784,
-0.22351389164973487,
-0.028452605982329245
],
"position_mm": [
651.8555021622784,
-223.51389164973486,
-28.452605982329246
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10578815548558637,
-0.1898654989618009,
-0.027888811611595146
],
"position_mm": [
105.78815548558637,
-189.8654989618009,
-27.888811611595145
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 105,
"position_m": [
0.523296751198384,
-0.26615894800906503,
-0.029161576449886494
],
"position_mm": [
523.2967511983841,
-266.15894800906506,
-29.161576449886493
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 114,
"position_m": [
0.28144800852234725,
-0.23497254610187937,
0.22074319748360555
],
"position_mm": [
281.44800852234727,
-234.97254610187937,
220.74319748360554
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 120,
"position_m": [
0.28115084120403466,
-0.1691777476678529,
0.24463802789200767
],
"position_mm": [
281.1508412040347,
-169.1777476678529,
244.63802789200767
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 205,
"position_m": [
0.7529775739984019,
-0.09020527802370797,
-0.00028812393551398246
],
"position_mm": [
752.9775739984019,
-90.20527802370796,
-0.28812393551398247
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 217,
"position_m": [
0.6471580201804066,
-0.08908729634791893,
-0.0005676210687482354
],
"position_mm": [
647.1580201804065,
-89.08729634791892,
-0.5676210687482355
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 218,
"position_m": [
0.25454497723004355,
-0.16854977968704543,
0.24157637686619954
],
"position_mm": [
254.54497723004354,
-168.54977968704543,
241.57637686619952
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 219,
"position_m": [
0.25514120937567986,
-0.2689051604153731,
0.20514967648781507
],
"position_mm": [
255.14120937567986,
-268.9051604153731,
205.14967648781507
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 243,
"position_m": [
0.18130958317719134,
-0.07557286932003536,
0.27719856309843105
],
"position_mm": [
181.30958317719134,
-75.57286932003537,
277.19856309843107
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 246,
"position_m": [
0.27053745641266225,
-0.06501144946172148,
0.2845502721043225
],
"position_mm": [
270.53745641266227,
-65.01144946172148,
284.5502721043225
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 247,
"position_m": [
0.23340320229280806,
-0.06012577034316331,
0.2864026711649904
],
"position_mm": [
233.40320229280806,
-60.12577034316331,
286.4026711649904
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
}
]
}