Files
appRobotRender/data/camera_study/Scene6/k4_acdf/aruco_positions_initial.json
2026-06-03 07:04:27 +02:00

637 lines
12 KiB
JSON

{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-02T23:01:28Z",
"summary": {
"num_cameras": 4,
"num_markers": 29,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.29955195892720843,
-0.7973261061142631,
0.8018813702295133
],
"position_mm": [
-299.55195892720843,
-797.3261061142631,
801.8813702295133
],
"direction": [
0.47862082719802856,
0.6562461256980896,
-0.5833207368850708
]
},
{
"camera_id": "c",
"position_m": [
0.31702206513417014,
-0.9009856513305725,
0.39446443494699257
],
"position_mm": [
317.02206513417013,
-900.9856513305725,
394.4644349469926
],
"direction": [
-0.12359802424907684,
0.9488852620124817,
-0.29041391611099243
]
},
{
"camera_id": "d",
"position_m": [
0.7054014679839464,
-0.7919478105063438,
0.3967113315257853
],
"position_mm": [
705.4014679839464,
-791.9478105063438,
396.7113315257853
],
"direction": [
-0.5578631162643433,
0.781220555305481,
-0.28014856576919556
]
},
{
"camera_id": "f",
"position_m": [
0.48085701508868617,
-0.3026928145345371,
1.4042255506450263
],
"position_mm": [
480.8570150886862,
-302.6928145345371,
1404.2255506450263
],
"direction": [
-0.22449733316898346,
0.08296965062618256,
-0.970936119556427
]
}
],
"markers": [
{
"marker_id": 47,
"position_m": [
0.3436427592081537,
-0.2883671256311528,
-0.027309136083901776
],
"position_mm": [
343.6427592081537,
-288.3671256311528,
-27.309136083901777
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16840192155576322,
-0.17337707337689057,
-0.027335354000751037
],
"position_mm": [
168.4019215557632,
-173.37707337689056,
-27.33535400075104
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.3397956216122176,
-0.32756015968624663,
-0.026915572899963224
],
"position_mm": [
339.7956216122176,
-327.5601596862466,
-26.915572899963223
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28452389449424054,
-0.2609632532372915,
-0.027192970134056613
],
"position_mm": [
284.52389449424055,
-260.96325323729155,
-27.192970134056612
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.047585194365194185,
-0.21632314961273078,
-0.027187528797273527
],
"position_mm": [
47.585194365194184,
-216.3231496127308,
-27.187528797273526
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4021217165979651,
-0.1730647694725041,
-0.02816154558242936
],
"position_mm": [
402.1217165979651,
-173.0647694725041,
-28.161545582429362
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.019056675868917336,
-0.18963600323216634,
-0.02629892817939908
],
"position_mm": [
-19.056675868917335,
-189.63600323216633,
-26.29892817939908
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.005600221484222814,
-0.2771413837507562,
-0.028040530621861206
],
"position_mm": [
5.600221484222813,
-277.1413837507562,
-28.040530621861205
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.44158413112442074,
0.19420064921928268,
-0.02810417918567924
],
"position_mm": [
441.58413112442076,
194.20064921928267,
-28.10417918567924
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 75,
"position_m": [
-0.027269075538657258,
0.1919859059408862,
-0.026805718469614458
],
"position_mm": [
-27.26907553865726,
191.9859059408862,
-26.805718469614458
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.31179117488803276,
-0.15951234701714542,
-0.027866865515992996
],
"position_mm": [
311.79117488803274,
-159.51234701714543,
-27.866865515992995
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 83,
"position_m": [
0.04569169372080601,
0.34056990722960356,
-0.02703535513995095
],
"position_mm": [
45.69169372080601,
340.5699072296036,
-27.03535513995095
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18735342754132403,
-0.2766713429774124,
-0.02709593134358942
],
"position_mm": [
187.35342754132404,
-276.6713429774124,
-27.09593134358942
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.37228139768193613,
-0.1844101964268814,
-0.027747663088679396
],
"position_mm": [
372.28139768193614,
-184.41019642688138,
-27.747663088679396
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 97,
"position_m": [
0.30648708943008246,
-0.3585049191425899,
-0.02688710577745693
],
"position_mm": [
306.48708943008245,
-358.5049191425899,
-26.88710577745693
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10501851217059505,
-0.19067127626349675,
-0.027229466069236444
],
"position_mm": [
105.01851217059505,
-190.67127626349676,
-27.229466069236445
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.31125191332136687,
-0.11686655689240194,
0.32729580158511423
],
"position_mm": [
311.2519133213669,
-116.86655689240195,
327.29580158511425
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.3522767284215946,
-0.08929259977431503,
0.0009486420757526319
],
"position_mm": [
352.27672842159456,
-89.29259977431502,
0.9486420757526319
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.02171256703813408,
-0.02053817861547794,
0.0009381663408808204
],
"position_mm": [
21.712567038134083,
-20.53817861547794,
0.9381663408808204
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.2524885416230699,
-0.009750143776839042,
0.0006577761161822469
],
"position_mm": [
252.4885416230699,
-9.750143776839042,
0.6577761161822469
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.34753169466528255,
-0.012186072913494543,
0.0008043987153456231
],
"position_mm": [
347.53169466528254,
-12.186072913494543,
0.8043987153456231
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.2509768146626135,
-0.08794711152526238,
-0.00033319879794478386
],
"position_mm": [
250.97681466261352,
-87.94711152526239,
-0.33319879794478385
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 218,
"position_m": [
0.264694336179231,
-0.1363428809131377,
0.2625458209104202
],
"position_mm": [
264.694336179231,
-136.3428809131377,
262.5458209104202
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 219,
"position_m": [
0.26155059614338816,
-0.11553021735948103,
0.3686786760800038
],
"position_mm": [
261.55059614338813,
-115.53021735948103,
368.6786760800038
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 229,
"position_m": [
0.18464409549307326,
-0.1145495137111058,
0.18119995268318081
],
"position_mm": [
184.64409549307325,
-114.5495137111058,
181.1999526831808
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 232,
"position_m": [
0.2815594114950323,
-0.15861266613391473,
0.12661665310045728
],
"position_mm": [
281.5594114950323,
-158.61266613391473,
126.61665310045727
],
"link": "Ellbow",
"normal": [
0.0,
0.7071067811865475,
-0.7071067811865475
]
},
{
"marker_id": 243,
"position_m": [
0.19099082852998864,
-0.16127414625352937,
0.15512556769782754
],
"position_mm": [
190.99082852998865,
-161.27414625352938,
155.12556769782753
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.2802456179829176,
-0.1622158462907791,
0.1510019001603954
],
"position_mm": [
280.24561798291757,
-162.2158462907791,
151.00190016039542
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.24598181830507204,
-0.1602705880695732,
0.15105456259705546
],
"position_mm": [
245.98181830507204,
-160.2705880695732,
151.05456259705545
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}