Files
appRobotRender/data/camera_study/Scene7/k4_abcg/aruco_positions_initial.json
2026-06-03 07:04:27 +02:00

580 lines
11 KiB
JSON

{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-03T04:18:39Z",
"summary": {
"num_cameras": 4,
"num_markers": 26,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.3008120456617256,
-0.7967324976921262,
0.8035603940327218
],
"position_mm": [
-300.8120456617256,
-796.7324976921261,
803.5603940327219
],
"direction": [
0.478861004114151,
0.6553303003311157,
-0.5841526389122009
]
},
{
"camera_id": "b",
"position_m": [
0.3032776168602546,
-0.9034907966109161,
1.1914760495863213
],
"position_mm": [
303.2776168602546,
-903.4907966109162,
1191.4760495863213
],
"direction": [
0.005841582547873259,
0.630989134311676,
-0.7757696509361267
]
},
{
"camera_id": "c",
"position_m": [
0.31352477320154787,
-0.900364134663362,
0.395486087669763
],
"position_mm": [
313.5247732015479,
-900.3641346633619,
395.48608766976304
],
"direction": [
-0.12002504616975784,
0.9488678574562073,
-0.2919653058052063
]
},
{
"camera_id": "g",
"position_m": [
-0.2105851021647306,
0.1959402103874402,
1.396204731389063
],
"position_mm": [
-210.58510216473059,
195.9402103874402,
1396.204731389063
],
"direction": [
0.30323532223701477,
-0.29429134726524353,
-0.9063338041305542
]
}
],
"markers": [
{
"marker_id": 40,
"position_m": [
0.27356580043442585,
-0.14471151023175435,
0.35218949456288706
],
"position_mm": [
273.56580043442585,
-144.71151023175435,
352.18949456288703
],
"link": "FingerA",
"normal": [
-0.4224220616915755,
0.0,
-0.9063992507699015
]
},
{
"marker_id": 44,
"position_m": [
0.2385325721493318,
-0.17181490311635295,
0.3258005959623699
],
"position_mm": [
238.5325721493318,
-171.81490311635295,
325.80059596236987
],
"link": "FingerB",
"normal": [
0.0,
-0.9375276894468237,
-0.34791066600565723
]
},
{
"marker_id": 47,
"position_m": [
0.34396091272472074,
-0.2882905385046472,
-0.02749959872197397
],
"position_mm": [
343.96091272472074,
-288.2905385046472,
-27.49959872197397
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16822074074277132,
-0.17218579053306335,
-0.02845022420807021
],
"position_mm": [
168.2207407427713,
-172.18579053306334,
-28.45022420807021
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.34010507986275074,
-0.3275415551635191,
-0.027481306393332853
],
"position_mm": [
340.10507986275076,
-327.54155516351915,
-27.481306393332854
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28401596039783783,
-0.2608301628908543,
-0.027290309109703634
],
"position_mm": [
284.01596039783783,
-260.8301628908543,
-27.290309109703635
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.04840321893873534,
-0.2175457314369879,
-0.026541100664667732
],
"position_mm": [
48.403218938735336,
-217.54573143698792,
-26.54110066466773
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.6264504666222843,
-0.2765554966615124,
-0.026747928782375432
],
"position_mm": [
626.4504666222844,
-276.5554966615124,
-26.747928782375432
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.40241850132505036,
-0.17213057141788307,
-0.028293413815661188
],
"position_mm": [
402.4185013250504,
-172.13057141788306,
-28.29341381566119
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.01911487242506969,
-0.18934799468594626,
-0.026649460747770037
],
"position_mm": [
-19.114872425069688,
-189.34799468594628,
-26.649460747770036
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.006758219458338476,
-0.27749237789046743,
-0.029212416204774962
],
"position_mm": [
6.758219458338476,
-277.4923778904674,
-29.21241620477496
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.3121047760120123,
-0.1582972968440556,
-0.028505203714395574
],
"position_mm": [
312.1047760120123,
-158.2972968440556,
-28.505203714395574
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5059053606118828,
-0.31343484798921545,
-0.02783587801016932
],
"position_mm": [
505.9053606118828,
-313.4348479892154,
-27.83587801016932
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6458403484726434,
-0.18753602087258292,
-0.026285054971999094
],
"position_mm": [
645.8403484726434,
-187.53602087258292,
-26.285054971999095
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18702836265408315,
-0.277082485838499,
-0.02844215553502424
],
"position_mm": [
187.02836265408314,
-277.082485838499,
-28.44215553502424
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.371954919344668,
-0.18373497200604516,
-0.027963852753056333
],
"position_mm": [
371.954919344668,
-183.73497200604515,
-27.963852753056333
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10500549591252487,
-0.19082465474554366,
-0.027397012526673425
],
"position_mm": [
105.00549591252486,
-190.82465474554365,
-27.397012526673425
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 115,
"position_m": [
0.2143609569671029,
-0.15814568024822678,
0.23499174603821796
],
"position_mm": [
214.36095696710288,
-158.1456802482268,
234.99174603821797
],
"link": "Arm2",
"normal": [
-0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 120,
"position_m": [
0.2629101237919752,
-0.15482603442459547,
0.16557124009501697
],
"position_mm": [
262.9101237919752,
-154.82603442459546,
165.57124009501698
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 198,
"position_m": [
0.13929327664244057,
-0.05347506615494946,
0.09197035769326246
],
"position_mm": [
139.29327664244056,
-53.47506615494946,
91.97035769326246
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.35279444879725735,
-0.0878994073070191,
-0.0007124022009807846
],
"position_mm": [
352.79444879725736,
-87.8994073070191,
-0.7124022009807847
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.020836587298661523,
-0.020535054383727946,
0.0016476687830481282
],
"position_mm": [
20.836587298661524,
-20.535054383727946,
1.6476687830481282
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.13846958907139845,
-0.1435843352210604,
0.08795628752791815
],
"position_mm": [
138.46958907139845,
-143.5843352210604,
87.95628752791815
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 243,
"position_m": [
0.14140701140968093,
-0.17383531209202813,
0.04502978420411187
],
"position_mm": [
141.40701140968093,
-173.83531209202812,
45.02978420411187
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.23135802473477993,
-0.17436320452316686,
0.050646304664256556
],
"position_mm": [
231.35802473477992,
-174.36320452316687,
50.646304664256554
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.19707921937645023,
-0.17383940979823326,
0.05104147177177655
],
"position_mm": [
197.07921937645023,
-173.83940979823325,
51.04147177177655
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}