Files
appRobotRender/data/evaluations/Scene9a/aruco_marker_poses.json

2376 lines
52 KiB
JSON

{
"schema_version": "1.0",
"stage": "corner_marker_poses",
"created_utc": "2026-06-01T22:49:54Z",
"summary": {
"num_cameras": 7,
"num_markers": 55
},
"markers": [
{
"marker_id": 41,
"link": "FingerA",
"position_m": [
0.24506868450621372,
-0.11194987259570745,
0.34440601987991726
],
"position_mm": [
245.0686845062137,
-111.94987259570745,
344.40601987991727
],
"normal": [
-0.20385892874629416,
0.6766146002143929,
0.7075551002905222
],
"corners_m": [
[
0.2618876832694507,
-0.11432698285308726,
0.3519332543271992
],
[
0.2386122773744616,
-0.12450796146736065,
0.35411957820606405
],
[
0.22883864547129207,
-0.10945866274707594,
0.3377974211120749
],
[
0.25093613190965053,
-0.0995058833153059,
0.3337738258743309
]
],
"num_cameras": 2,
"edge_length_mm": 25.048796242851804
},
{
"marker_id": 42,
"link": "FingerA",
"position_m": [
0.21404382481520268,
-0.07627296489544826,
0.3401122675070779
],
"position_mm": [
214.04382481520267,
-76.27296489544825,
340.1122675070779
],
"normal": [
-0.7852877322839571,
-0.22158668000845386,
0.5781198152348278
],
"corners_m": [
[
0.22451887894034503,
-0.0811152391043412,
0.3523989878718377
],
[
0.21398764888348648,
-0.09213824761258504,
0.33403987350497666
],
[
0.20361189162628213,
-0.07123101883858385,
0.32778911357226787
],
[
0.21405687981069704,
-0.06060735402628293,
0.34622109507922927
]
],
"num_cameras": 4,
"edge_length_mm": 23.890836579068612
},
{
"marker_id": 43,
"link": "FingerB",
"position_m": [
0.26941732035312593,
-0.07608976112694224,
0.34005585102569064
],
"position_mm": [
269.41732035312594,
-76.08976112694224,
340.05585102569063
],
"normal": [
-0.09353521644658658,
-0.4979440179639983,
0.8621501715235923
],
"corners_m": [
[
0.27715293975710836,
-0.06349955950117939,
0.34818732112178363
],
[
0.28431655987758647,
-0.08363474075126608,
0.33729392087775667
],
[
0.26170655916756796,
-0.08869061232859148,
0.33196222598899283
],
[
0.25449322261024104,
-0.06853413192673205,
0.34277993611422936
]
],
"num_cameras": 6,
"edge_length_mm": 23.895413095561832
},
{
"marker_id": 46,
"link": "Board",
"position_m": [
0.5366647401583893,
0.1852249819425236,
-0.02675329388243652
],
"position_mm": [
536.6647401583892,
185.22498194252358,
-26.75329388243652
],
"normal": [
0.0011984327997580215,
0.0401963688577732,
0.9991910806694956
],
"corners_m": [
[
0.5244531451511297,
0.17316150081015708,
-0.02615480065687615
],
[
0.5252409814856718,
0.19745885895314255,
-0.027333639752558
],
[
0.5484820195265806,
0.1970424142229267,
-0.027138813038265458
],
[
0.5484828144701747,
0.1732371537838681,
-0.02638592208204647
]
],
"num_cameras": 3,
"edge_length_mm": 23.85808527592172
},
{
"marker_id": 47,
"link": "Board",
"position_m": [
0.34420802742235773,
-0.2864842964187724,
-0.027331992573738535
],
"position_mm": [
344.20802742235776,
-286.4842964187724,
-27.331992573738535
],
"normal": [
-0.01465793372661996,
0.014312849878748368,
0.999790121629142
],
"corners_m": [
[
0.33245428779728087,
-0.2982678522622847,
-0.027403515252894164
],
[
0.332356090619891,
-0.2742221549217361,
-0.027614554237871503
],
[
0.35616470910312864,
-0.2747575378967918,
-0.027391602490482284
],
[
0.3558570221691304,
-0.29868964059427683,
-0.026918298313706186
]
],
"num_cameras": 5,
"edge_length_mm": 23.80320712609848
},
{
"marker_id": 48,
"link": "Board",
"position_m": [
0.6886872206396545,
-0.32065235043178386,
-0.02721517490346036
],
"position_mm": [
688.6872206396545,
-320.6523504317839,
-27.215174903460362
],
"normal": [
-0.0037120110066842663,
-0.009849044169100459,
0.9999446071174349
],
"corners_m": [
[
0.6767331115894458,
-0.33231544010780373,
-0.027184425905101565
],
[
0.676836609544316,
-0.3085349862819275,
-0.02733354595035644
],
[
0.7004128477923095,
-0.30926823667778847,
-0.026861169114400677
],
[
0.7007663136325468,
-0.33249073865961576,
-0.027481558643982756
]
],
"num_cameras": 3,
"edge_length_mm": 23.6606671020033
},
{
"marker_id": 51,
"link": "Board",
"position_m": [
0.16780879213966837,
-0.17196166338065863,
-0.02729568269118877
],
"position_mm": [
167.80879213966838,
-171.96166338065862,
-27.29568269118877
],
"normal": [
-0.005152295689487458,
0.010279599179660152,
0.9999338896596283
],
"corners_m": [
[
0.1556404671854667,
-0.1839876396614731,
-0.027176618077048843
],
[
0.156001050838086,
-0.15970866690569685,
-0.02754134770047854
],
[
0.17982704027649926,
-0.16015149410034765,
-0.02729523741419054
],
[
0.17976661025862156,
-0.18399885285511683,
-0.02716952757303716
]
],
"num_cameras": 5,
"edge_length_mm": 24.022419455923863
},
{
"marker_id": 52,
"link": "Board",
"position_m": [
0.094721157338663,
0.208887209394901,
-0.027278124419549785
],
"position_mm": [
94.721157338663,
208.887209394901,
-27.278124419549783
],
"normal": [
0.018083786702978083,
0.05124173562894409,
0.9985225391488239
],
"corners_m": [
[
0.0828609266428889,
0.1969107027438602,
-0.02671582315577664
],
[
0.08338320317340918,
0.22133525982385155,
-0.027447311009824622
],
[
0.10671673059551322,
0.2215300468579108,
-0.02839412099539085
],
[
0.10592376894284071,
0.19577282815398142,
-0.026555242517207023
]
],
"num_cameras": 2,
"edge_length_mm": 24.18025825354307
},
{
"marker_id": 53,
"link": "Board",
"position_m": [
0.48631476082952557,
0.2120961031723205,
-0.027035166601201626
],
"position_mm": [
486.3147608295256,
212.0961031723205,
-27.035166601201627
],
"normal": [
-0.011570014953281025,
0.018838650462553955,
0.9997555901332739
],
"corners_m": [
[
0.4744177315056853,
0.20013276587082288,
-0.027062623859086067
],
[
0.4747474188020646,
0.22412372283365195,
-0.02728024611541779
],
[
0.4981950565573494,
0.22434135147893722,
-0.027241158073155844
],
[
0.49789883645300304,
0.19978657250586995,
-0.02655663835714681
]
],
"num_cameras": 4,
"edge_length_mm": 23.874525248822817
},
{
"marker_id": 54,
"link": "Board",
"position_m": [
0.3422923914434299,
-0.33064441787246496,
-0.027120379489497734
],
"position_mm": [
342.2923914434299,
-330.64441787246494,
-27.120379489497733
],
"normal": [
0.0006592737154317309,
0.007015237423457562,
0.9999751755929048
],
"corners_m": [
[
0.3304548940734044,
-0.34260621252644513,
-0.026962974616567142
],
[
0.33033176661105756,
-0.3184232311001369,
-0.02726320954144197
],
[
0.354257390863062,
-0.31885212279350816,
-0.02714509051171949
],
[
0.3541255142261957,
-0.3426961050697696,
-0.027110243288262337
]
],
"num_cameras": 5,
"edge_length_mm": 23.90763488140213
},
{
"marker_id": 55,
"link": "Board",
"position_m": [
0.28377131073008555,
-0.2625081928296684,
-0.027408668424086003
],
"position_mm": [
283.77131073008553,
-262.5081928296684,
-27.408668424086002
],
"normal": [
-0.00019109545414757928,
-0.0017204854678661704,
0.9999985017050187
],
"corners_m": [
[
0.2717030837810019,
-0.2743064875990965,
-0.027404128265830656
],
[
0.27179738784811713,
-0.25062494928700463,
-0.027417790853692274
],
[
0.29578035313278056,
-0.25076145173444037,
-0.02735876491357325
],
[
0.29580441815844266,
-0.2743398826981322,
-0.027453989663247833
]
],
"num_cameras": 5,
"edge_length_mm": 23.83630025544513
},
{
"marker_id": 56,
"link": "Board",
"position_m": [
0.49869081314205144,
0.1686600751169079,
-0.027165472428648682
],
"position_mm": [
498.6908131420514,
168.6600751169079,
-27.16547242864868
],
"normal": [
0.00925877217184017,
0.036489212882632516,
0.999291155009928
],
"corners_m": [
[
0.4866510786601723,
0.15664781179688514,
-0.026638073565259296
],
[
0.48694669715372774,
0.18064633310993633,
-0.027471483888832714
],
[
0.5106915278158431,
0.18057387704201358,
-0.027734736928309554
],
[
0.5104739489384627,
0.15677227851879655,
-0.026817595332193165
]
],
"num_cameras": 3,
"edge_length_mm": 23.85133391777005
},
{
"marker_id": 57,
"link": "Board",
"position_m": [
0.6030435652288788,
-0.36406962862788816,
-0.027168277193989628
],
"position_mm": [
603.0435652288788,
-364.06962862788816,
-27.168277193989628
],
"normal": [
0.001683522822245744,
0.0008983849665177708,
0.9999981793260221
],
"corners_m": [
[
0.5913212832693415,
-0.37569223446417116,
-0.02711481744042574
],
[
0.5919531837759341,
-0.35229463484327755,
-0.0271836562218434
],
[
0.614675020963373,
-0.35240131125698926,
-0.027174959920617088
],
[
0.6142247729068668,
-0.37589033394711463,
-0.027199675193072287
]
],
"num_cameras": 2,
"edge_length_mm": 23.131543887451066
},
{
"marker_id": 58,
"link": "Board",
"position_m": [
0.05014548977803991,
-0.21820542452382688,
-0.027161610397256526
],
"position_mm": [
50.14548977803991,
-218.20542452382688,
-27.161610397256524
],
"normal": [
-0.007525081144055111,
0.002386927836718011,
0.9999688373790844
],
"corners_m": [
[
0.03817887220280851,
-0.2300676279169922,
-0.027238656744563654
],
[
0.038167494161771016,
-0.20621295654795402,
-0.02726519581072908
],
[
0.062214864906070484,
-0.20629543931007926,
-0.027114330909022644
],
[
0.06202072784150963,
-0.23024567432028195,
-0.027028258124710727
]
],
"num_cameras": 6,
"edge_length_mm": 23.924324877333255
},
{
"marker_id": 59,
"link": "Board",
"position_m": [
0.6261244975380897,
-0.2787126758390208,
-0.02726457778364861
],
"position_mm": [
626.1244975380897,
-278.7126758390208,
-27.26457778364861
],
"normal": [
-0.01609546001613288,
0.014040949093559463,
0.9997718679355911
],
"corners_m": [
[
0.6143351604858311,
-0.2904476488924098,
-0.027422891221695014
],
[
0.6144694124477293,
-0.2665724736131241,
-0.02749017378168035
],
[
0.6379877963176886,
-0.26693048723647345,
-0.02737102128290494
],
[
0.6377056209011102,
-0.290900093614076,
-0.026774224848314133
]
],
"num_cameras": 3,
"edge_length_mm": 23.689897857544945
},
{
"marker_id": 61,
"link": "Board",
"position_m": [
-0.022449299664436238,
0.33585238902078574,
-0.027333232829510036
],
"position_mm": [
-22.44929966443624,
335.8523890207857,
-27.333232829510035
],
"normal": [
-0.01957946604414611,
-0.01795422743538444,
0.9996470828380507
],
"corners_m": [
[
-0.034233850082535926,
0.32456098435509123,
-0.02770324049355956
],
[
-0.03440625846822412,
0.34762173862684975,
-0.02741932379939299
],
[
-0.010605573055175418,
0.346953082941621,
-0.026837553570291606
],
[
-0.010551517051809487,
0.324273750159581,
-0.027372813454795995
]
],
"num_cameras": 3,
"edge_length_mm": 23.313105324275256
},
{
"marker_id": 62,
"link": "Board",
"position_m": [
0.40462969687208317,
-0.17501455698054316,
-0.027311105191948126
],
"position_mm": [
404.6296968720832,
-175.01455698054318,
-27.311105191948126
],
"normal": [
-0.0033275012083863013,
0.005463674794356139,
0.9999795377873738
],
"corners_m": [
[
0.3925392064337297,
-0.18673940294620248,
-0.027295441815730223
],
[
0.3927917208472781,
-0.16284071582460993,
-0.027408748728191754
],
[
0.4165794548710643,
-0.16330471412282946,
-0.027343597130334883
],
[
0.4166084053362607,
-0.18717339502853084,
-0.02719663309353565
]
],
"num_cameras": 5,
"edge_length_mm": 23.908775688634037
},
{
"marker_id": 63,
"link": "Board",
"position_m": [
0.7772593611891925,
-0.23617426199764333,
-0.027318841414350113
],
"position_mm": [
777.2593611891925,
-236.17426199764333,
-27.318841414350114
],
"normal": [
-0.008976699109933544,
0.011870775784279756,
0.9998892456444209
],
"corners_m": [
[
0.7653900942687949,
-0.24798252969887263,
-0.027320718106773386
],
[
0.7656845711207085,
-0.22400773273439373,
-0.027531479040796523
],
[
0.7890580793670829,
-0.22455614323592843,
-0.027387141577075343
],
[
0.7889047000001838,
-0.2481506423213785,
-0.027036026932755194
]
],
"num_cameras": 3,
"edge_length_mm": 23.618114524576526
},
{
"marker_id": 64,
"link": "Board",
"position_m": [
-0.021356081595471973,
-0.18807774021668555,
-0.02734302538661757
],
"position_mm": [
-21.356081595471974,
-188.07774021668556,
-27.343025386617573
],
"normal": [
0.00557037189001514,
-0.003307936810513779,
0.999979014035327
],
"corners_m": [
[
-0.03334288280165355,
-0.2002560988560828,
-0.027171418548347082
],
[
-0.033469280057807825,
-0.17615708592871693,
-0.027381653673125093
],
[
-0.009400550955419267,
-0.17611586297071188,
-0.027221873068323754
],
[
-0.009211612567007256,
-0.1997819131112306,
-0.02759715625667436
]
],
"num_cameras": 5,
"edge_length_mm": 23.9947547404108
},
{
"marker_id": 66,
"link": "Board",
"position_m": [
0.20969401729884354,
-0.3632682859864744,
-0.027009019111798704
],
"position_mm": [
209.69401729884353,
-363.26828598647444,
-27.009019111798704
],
"normal": [
-0.006957392420706519,
0.02201869519064309,
0.9997333503253785
],
"corners_m": [
[
0.19743602019788004,
-0.3753213340445143,
-0.026616736732275294
],
[
0.198212764164041,
-0.3512677120742605,
-0.027569061083390613
],
[
0.22174354207293656,
-0.3511938108526346,
-0.026975486425872705
],
[
0.22138374276051664,
-0.37529028697448824,
-0.02687479220565621
]
],
"num_cameras": 3,
"edge_length_mm": 23.917969962054407
},
{
"marker_id": 68,
"link": "Board",
"position_m": [
0.5738567541310939,
0.1708243485290161,
-0.02743936679315956
],
"position_mm": [
573.8567541310939,
170.8243485290161,
-27.439366793159557
],
"normal": [
-0.0076112204930778,
0.027807920868322848,
0.9995843080298864
],
"corners_m": [
[
0.561779794644118,
0.15900413117181078,
-0.0275501762644504
],
[
0.5622301917123141,
0.18274250272088294,
-0.0275059100166247
],
[
0.5857416182348921,
0.18290605309359897,
-0.028030435799228395
],
[
0.5856754119330516,
0.15864470712977174,
-0.026670945092334745
]
],
"num_cameras": 3,
"edge_length_mm": 23.868628775488325
},
{
"marker_id": 69,
"link": "Board",
"position_m": [
0.007516029256741995,
-0.2812485813161328,
-0.027213469493031474
],
"position_mm": [
7.516029256741995,
-281.2485813161328,
-27.213469493031475
],
"normal": [
0.0008917070704970233,
0.002011815004062473,
0.9999975787265137
],
"corners_m": [
[
-0.004458680322090516,
-0.2931807509702296,
-0.02715103264145556
],
[
-0.004335097944768005,
-0.2693300506798273,
-0.02725435753274358
],
[
0.019609806959339025,
-0.26930919724444224,
-0.02722081193587507
],
[
0.019248088334487476,
-0.29317432637003205,
-0.02722767586205169
]
],
"num_cameras": 5,
"edge_length_mm": 23.84273659185359
},
{
"marker_id": 71,
"link": "Board",
"position_m": [
0.749862837848355,
-0.2839419833619018,
-0.027175364018419974
],
"position_mm": [
749.862837848355,
-283.9419833619018,
-27.175364018419973
],
"normal": [
-0.003391723543604829,
-0.02275422440181893,
0.9997353357180466
],
"corners_m": [
[
0.7380591512242235,
-0.29591157536959223,
-0.027511272718741563
],
[
0.7380056883482942,
-0.27164148418606776,
-0.026911658684261458
],
[
0.7614114760282549,
-0.2725032679630679,
-0.026900899861324115
],
[
0.761975035792647,
-0.2957116059288794,
-0.027377624809352775
]
],
"num_cameras": 2,
"edge_length_mm": 23.709093344694676
},
{
"marker_id": 72,
"link": "Board",
"position_m": [
0.44097344759080237,
0.19432043217883327,
-0.02717217844292617
],
"position_mm": [
440.9734475908024,
194.32043217883327,
-27.17217844292617
],
"normal": [
0.0014536483570781922,
0.01353876176335528,
0.9999072901206237
],
"corners_m": [
[
0.42899989063302013,
0.18272538030428043,
-0.027041784708419177
],
[
0.42929681571337475,
0.20631590718639287,
-0.027273615147892956
],
[
0.4529491049807303,
0.2060163824616375,
-0.027391581066126897
],
[
0.4526479790360842,
0.1822240587630223,
-0.026981732849265656
]
],
"num_cameras": 7,
"edge_length_mm": 23.67481272668106
},
{
"marker_id": 75,
"link": "Board",
"position_m": [
-0.025660347271786062,
0.19457728234872207,
-0.027107861590089898
],
"position_mm": [
-25.660347271786062,
194.57728234872206,
-27.107861590089897
],
"normal": [
-0.014367024774635202,
-0.010503350907672182,
0.9998416215675539
],
"corners_m": [
[
-0.037502324593316066,
0.18313525971547492,
-0.02740247494695896
],
[
-0.03771311952405114,
0.20628270979936195,
-0.027153846627477416
],
[
-0.01377748443387525,
0.20608915499391792,
-0.026820394345991278
],
[
-0.013648460535901796,
0.18280200488613346,
-0.02705473043993194
]
],
"num_cameras": 3,
"edge_length_mm": 23.558974488647806
},
{
"marker_id": 76,
"link": "Board",
"position_m": [
0.6847150016896615,
0.16626728206737437,
-0.02668870155836705
],
"position_mm": [
684.7150016896614,
166.26728206737437,
-26.68870155836705
],
"normal": [
0.012425726266968182,
0.004206609647752103,
0.9999139491786331
],
"corners_m": [
[
0.672861798395542,
0.15559335645402872,
-0.02700845322298457
],
[
0.6727783500739931,
0.17695042993342514,
-0.026093218587559596
],
[
0.6970723976546886,
0.17808556285409113,
-0.02733531377408065
],
[
0.6961474606344222,
0.1544397790279525,
-0.026317820648843387
]
],
"num_cameras": 2,
"edge_length_mm": 23.184816448561158
},
{
"marker_id": 79,
"link": "Board",
"position_m": [
0.3122422386428013,
-0.15898451394163426,
-0.027372632337460897
],
"position_mm": [
312.24223864280134,
-158.98451394163428,
-27.372632337460896
],
"normal": [
-0.010944993414299047,
-0.0001089717923461464,
0.9999400958278999
],
"corners_m": [
[
0.3000495805153909,
-0.1706471667064195,
-0.027531020815095605
],
[
0.30028978009282925,
-0.14705862604894065,
-0.0274781224647484
],
[
0.3242442670587751,
-0.14724053394311354,
-0.027263860992303324
],
[
0.32438532690421007,
-0.17099172906806342,
-0.02721752507769626
]
],
"num_cameras": 6,
"edge_length_mm": 23.909455609222224
},
{
"marker_id": 82,
"link": "Board",
"position_m": [
0.2191339389600048,
0.2972145646260699,
-0.02747137604498865
],
"position_mm": [
219.1339389600048,
297.2145646260699,
-27.471376044988652
],
"normal": [
0.0017679165314019312,
0.0029618316885723917,
0.9999940509943981
],
"corners_m": [
[
0.20723400001123732,
0.2848571662164185,
-0.026916832652136194
],
[
0.20697092463328262,
0.3096704261666437,
-0.027988595173422854
],
[
0.2309420883050147,
0.30833028417163955,
-0.02696763967081994
],
[
0.23138874289048447,
0.2860003819495777,
-0.028012436683575608
]
],
"num_cameras": 3,
"edge_length_mm": 23.858365904754642
},
{
"marker_id": 83,
"link": "Board",
"position_m": [
0.044310481280298075,
0.3392129391676051,
-0.027265523449968947
],
"position_mm": [
44.31048128029808,
339.2129391676051,
-27.265523449968946
],
"normal": [
0.00848380104258303,
0.018977952298443124,
0.9997839078753108
],
"corners_m": [
[
0.03252063028963539,
0.32714817212837055,
-0.027070592315765248
],
[
0.03260578793124166,
0.35071675113852646,
-0.027248302605743013
],
[
0.055911514135384185,
0.3513316411565377,
-0.027729543624628296
],
[
0.05620399276493106,
0.3276551922469857,
-0.027013655253739235
]
],
"num_cameras": 3,
"edge_length_mm": 23.566534480815076
},
{
"marker_id": 84,
"link": "Board",
"position_m": [
0.4073319535411268,
0.2583554112440902,
-0.027217443573078117
],
"position_mm": [
407.3319535411268,
258.35541124409025,
-27.217443573078118
],
"normal": [
-0.00688206678997883,
0.03310792533582052,
0.9994280876764752
],
"corners_m": [
[
0.3953564299578025,
0.24652045959079805,
-0.027037590495022558
],
[
0.3957712384272998,
0.2705722912378584,
-0.027572071152649584
],
[
0.4193190574368417,
0.2704708713721681,
-0.027662888367061524
],
[
0.41888108834256305,
0.24585802277553634,
-0.02659722427757881
]
],
"num_cameras": 6,
"edge_length_mm": 23.94686539765752
},
{
"marker_id": 85,
"link": "Board",
"position_m": [
0.5045008521019271,
-0.3127500344755856,
-0.027214827106112637
],
"position_mm": [
504.5008521019271,
-312.7500344755856,
-27.214827106112637
],
"normal": [
-0.01273071677190995,
0.005910286502506022,
0.9999014938302331
],
"corners_m": [
[
0.4926962199115082,
-0.32456394332938904,
-0.027266594460560362
],
[
0.4929640098806226,
-0.30061413338101733,
-0.027461687541984817
],
[
0.5164918031142972,
-0.3009714713564062,
-0.027103461326919848
],
[
0.5158513755012802,
-0.3248505898355297,
-0.02702756509498552
]
],
"num_cameras": 4,
"edge_length_mm": 23.632830945865372
},
{
"marker_id": 86,
"link": "Board",
"position_m": [
0.3628791415699775,
0.2920527407165397,
-0.027232080421950203
],
"position_mm": [
362.87914156997755,
292.0527407165397,
-27.232080421950204
],
"normal": [
-0.007994298261537856,
0.0265334012388776,
0.9996159611640875
],
"corners_m": [
[
0.35080120934652753,
0.2800161451156571,
-0.027032676374979796
],
[
0.35129702964164644,
0.3045261468588769,
-0.027631755829468942
],
[
0.37468851664564273,
0.3038324419060445,
-0.027474868398756933
],
[
0.3747298106460934,
0.27983622898558025,
-0.02678902108459515
]
],
"num_cameras": 5,
"edge_length_mm": 23.965299483641182
},
{
"marker_id": 92,
"link": "Board",
"position_m": [
0.6450991097147705,
-0.18485156724646826,
-0.027220605236543637
],
"position_mm": [
645.0991097147705,
-184.85156724646825,
-27.220605236543637
],
"normal": [
0.001328895064087271,
0.01831433944494044,
0.999831395290528
],
"corners_m": [
[
0.6329381770415473,
-0.196769458128467,
-0.026959599919599727
],
[
0.633586136640946,
-0.172782889874432,
-0.027453233995484383
],
[
0.6571121094605298,
-0.17313920292337057,
-0.02742377870737384
],
[
0.656760015716059,
-0.19671471805960347,
-0.0270458083237166
]
],
"num_cameras": 4,
"edge_length_mm": 23.733078986117587
},
{
"marker_id": 95,
"link": "Board",
"position_m": [
0.18600086947050956,
-0.2739150320118822,
-0.027278079505232228
],
"position_mm": [
186.00086947050957,
-273.9150320118822,
-27.278079505232228
],
"normal": [
-0.006971703563913732,
0.0015552692064924045,
0.999974487918123
],
"corners_m": [
[
0.17396277649404798,
-0.2859054155550139,
-0.027276289277369584
],
[
0.17409710839871792,
-0.2617715154865677,
-0.02744686866182125
],
[
0.1980651039325867,
-0.26209361821746074,
-0.027144492885918074
],
[
0.1978784890566857,
-0.2858895787884865,
-0.02724466719582
]
],
"num_cameras": 6,
"edge_length_mm": 23.954896372107473
},
{
"marker_id": 96,
"link": "Board",
"position_m": [
0.3697803543351872,
-0.18633977328502693,
-0.027333365229712477
],
"position_mm": [
369.7803543351872,
-186.33977328502692,
-27.333365229712477
],
"normal": [
-0.012402050892038982,
0.026519881413532898,
0.9995713506416055
],
"corners_m": [
[
0.3575349271923793,
-0.198370919967514,
-0.027067637303071188
],
[
0.35801105673330186,
-0.173801176599216,
-0.027911398830899305
],
[
0.38191282767790646,
-0.1746126718539739,
-0.027392051964009477
],
[
0.3816626057371612,
-0.1985743247194038,
-0.02696237282086994
]
],
"num_cameras": 5,
"edge_length_mm": 24.151398788692706
},
{
"marker_id": 97,
"link": "Board",
"position_m": [
0.30443261726638216,
-0.3596838201670012,
-0.027162766816626216
],
"position_mm": [
304.4326172663822,
-359.68382016700116,
-27.162766816626217
],
"normal": [
0.0012993995618119094,
0.011838351314385709,
0.9999290799846438
],
"corners_m": [
[
0.2924117270905695,
-0.37167445207260547,
-0.02697553919549362
],
[
0.29271564416305634,
-0.34762475568919343,
-0.027319974051953893
],
[
0.31644663919623783,
-0.34771792410998315,
-0.027290318774196774
],
[
0.31615645861566494,
-0.3717181487962227,
-0.027065235244860583
]
],
"num_cameras": 4,
"edge_length_mm": 23.88331364566356
},
{
"marker_id": 102,
"link": "Board",
"position_m": [
0.6496883165311984,
-0.22302431774231032,
-0.0272051885444038
],
"position_mm": [
649.6883165311984,
-223.02431774231033,
-27.2051885444038
],
"normal": [
0.00040780924093807995,
0.006899669533832142,
0.9999761138406993
],
"corners_m": [
[
0.6376041448570807,
-0.234814313268859,
-0.027113974528103546
],
[
0.6380627111030326,
-0.21088173846483366,
-0.02728920671543522
],
[
0.6616737478112558,
-0.21136466413621136,
-0.027285493355766247
],
[
0.6614126623534249,
-0.2350365550993373,
-0.027132079578310195
]
],
"num_cameras": 4,
"edge_length_mm": 23.75924341943785
},
{
"marker_id": 103,
"link": "Board",
"position_m": [
0.10570597046748403,
-0.18777550769694096,
-0.027181162811359773
],
"position_mm": [
105.70597046748404,
-187.77550769694096,
-27.181162811359773
],
"normal": [
-0.0065321459392456436,
0.013292203709597385,
0.9998903181799347
],
"corners_m": [
[
0.0936530632624777,
-0.199715609479305,
-0.0271223011908737
],
[
0.09365505733133395,
-0.1757620079921207,
-0.027398366937261276
],
[
0.11770234434419291,
-0.1758778575061072,
-0.027282256353721713
],
[
0.11781341693193156,
-0.19974655581023087,
-0.026921726763582406
]
],
"num_cameras": 7,
"edge_length_mm": 24.00898104176709
},
{
"marker_id": 105,
"link": "Board",
"position_m": [
0.5247438322886588,
-0.26624222825564925,
-0.027153485843364536
],
"position_mm": [
524.7438322886588,
-266.24222825564925,
-27.153485843364535
],
"normal": [
-0.007865832429490372,
0.0023340235004297716,
0.9999663399407456
],
"corners_m": [
[
0.5128233246551346,
-0.2780073720454162,
-0.027294407098832955
],
[
0.5129594475280386,
-0.25399871210722436,
-0.027201746920710236
],
[
0.5369178663332396,
-0.25465513666062206,
-0.027158859577348392
],
[
0.5362746906382225,
-0.2783076922093343,
-0.026958929776566547
]
],
"num_cameras": 4,
"edge_length_mm": 23.77362603579517
},
{
"marker_id": 113,
"link": "Arm2",
"position_m": [
0.2704113226640209,
-0.16068563190798063,
0.23505504214874395
],
"position_mm": [
270.41132266402093,
-160.68563190798062,
235.05504214874395
],
"normal": [
0.3463331306006034,
-0.9373420723128812,
0.03798950013594109
],
"corners_m": [
[
0.2817335490676435,
-0.15696594852927204,
0.22251782935819092
],
[
0.25925260745289863,
-0.1653439056699387,
0.22294074403881425
],
[
0.2588347949451347,
-0.16441027010239642,
0.2476202303247126
],
[
0.28182433919040695,
-0.15602240333031536,
0.2471413648732581
]
],
"num_cameras": 6,
"edge_length_mm": 24.453525136818993
},
{
"marker_id": 124,
"link": "Arm2",
"position_m": [
0.29371096505537553,
-0.11897090164429414,
0.2701991332390309
],
"position_mm": [
293.71096505537554,
-118.97090164429413,
270.1991332390309
],
"normal": [
0.9461678531281277,
0.3225757326738786,
-0.02667002806185673
],
"corners_m": [
[
0.28995169109938207,
-0.10875565719941727,
0.2576915106562428
],
[
0.2969366016910095,
-0.12964370178333678,
0.25818368342727976
],
[
0.2978500573305893,
-0.12984918919441574,
0.2830006048076571
],
[
0.2901055101005212,
-0.10763505840000677,
0.28192073406494395
]
],
"num_cameras": 2,
"edge_length_mm": 23.667713600137272
},
{
"marker_id": 198,
"link": "Arm1",
"position_m": [
0.16996651666075574,
-0.053196665913661796,
0.09041269746657302
],
"position_mm": [
169.96651666075573,
-53.196665913661796,
90.41269746657302
],
"normal": [
-0.005905840169290691,
-0.02741843519169918,
0.9996065978491406
],
"corners_m": [
[
0.15796521515966067,
-0.04116346527300845,
0.09069188903944075
],
[
0.18202634654878624,
-0.0412742385630508,
0.09079089090827279
],
[
0.182081135013583,
-0.06520429556242822,
0.09017480615992143
],
[
0.15779336992099302,
-0.0651446642561597,
0.08999320375865706
]
],
"num_cameras": 4,
"edge_length_mm": 24.07003663280304
},
{
"marker_id": 205,
"link": "Board",
"position_m": [
0.7501713472261214,
-0.08999574899730094,
0.00027903380445353854
],
"position_mm": [
750.1713472261215,
-89.99574899730094,
0.27903380445353854
],
"normal": [
0.001024313182552368,
0.018957731226765927,
0.9998197613616355
],
"corners_m": [
[
0.7387280147125429,
-0.07775151052024235,
0.000269864527422841
],
[
0.7625118874359575,
-0.07822556657775472,
-0.00017021729391265958
],
[
0.7613184900825658,
-0.10210688103502706,
0.0007162024617855376
],
[
0.7381269966734196,
-0.10189903785617961,
0.0003002855225184352
]
],
"num_cameras": 3,
"edge_length_mm": 23.767846136186662
},
{
"marker_id": 206,
"link": "Board",
"position_m": [
0.6499689211315166,
-0.009857600153765194,
0.00027037495907988006
],
"position_mm": [
649.9689211315166,
-9.857600153765194,
0.2703749590798801
],
"normal": [
0.009484678397136678,
-0.014169010875554779,
0.9998546294369554
],
"corners_m": [
[
0.6384029302541763,
0.0018052475737602418,
0.00046696306447508427
],
[
0.6619209400698953,
0.0014612751550089735,
0.0003962968984348823
],
[
0.6619541802144706,
-0.02144925718935316,
-8.377378748917105e-05
],
[
0.6375976339875243,
-0.021247666154476832,
0.0003020136608987248
]
],
"num_cameras": 3,
"edge_length_mm": 23.466054271372347
},
{
"marker_id": 208,
"link": "Board",
"position_m": [
0.35002871969131116,
-0.08994039941768008,
0.00032089440289822526
],
"position_mm": [
350.02871969131115,
-89.94039941768007,
0.32089440289822524
],
"normal": [
0.005654773472088427,
0.020754130697680062,
0.9997686180291733
],
"corners_m": [
[
0.33787500733391196,
-0.0777273750409998,
0.00020411497424460128
],
[
0.36218674268041895,
-0.07762448913825205,
-7.123878426799604e-05
],
[
0.3619028027264303,
-0.10220587942684282,
0.0005776552277179458
],
[
0.33815032602448336,
-0.10220385406462562,
0.0005730461938983502
]
],
"num_cameras": 6,
"edge_length_mm": 24.284597448633814
},
{
"marker_id": 210,
"link": "Board",
"position_m": [
0.020038027413247055,
-0.019934626802048147,
0.00039551602506378915
],
"position_mm": [
20.038027413247054,
-19.934626802048147,
0.39551602506378913
],
"normal": [
-0.0124360598518322,
0.002894627200883293,
0.9999184794515649
],
"corners_m": [
[
0.007972114553704572,
-0.008044989372428295,
0.00036931567615983927
],
[
0.03199615455913573,
-0.00792830614678967,
0.00035444372183038704
],
[
0.03211066136071201,
-0.03207086988612804,
0.0007357129681567562
],
[
0.008073179179435912,
-0.031694341802846575,
0.0001225917341081742
]
],
"num_cameras": 4,
"edge_length_mm": 23.967319278055246
},
{
"marker_id": 211,
"link": "Board",
"position_m": [
0.2507284354482714,
-0.011030264178234979,
0.0007376930139042114
],
"position_mm": [
250.7284354482714,
-11.030264178234978,
0.7376930139042114
],
"normal": [
-0.011827867488187576,
-0.04060351818315955,
0.9991053277116642
],
"corners_m": [
[
0.23927416204535631,
0.00017346704021636137,
0.0008658217367894163
],
[
0.2630461775011129,
-0.0006505040815641128,
0.001505064782967349
],
[
0.26213256061955553,
-0.02177001922410214,
0.0002353190485630566
],
[
0.23846084162706088,
-0.021874000447490022,
0.0003445664872970235
]
],
"num_cameras": 3,
"edge_length_mm": 22.678266586168768
},
{
"marker_id": 214,
"link": "Board",
"position_m": [
0.3499262831908231,
-0.009981378173888816,
0.00037106120665675237
],
"position_mm": [
349.9262831908231,
-9.981378173888816,
0.37106120665675235
],
"normal": [
-0.0019529563549895604,
0.025631129381991746,
0.9996695609890697
],
"corners_m": [
[
0.3380859734557024,
0.001849855174182465,
0.00037963728455597535
],
[
0.36181067110925025,
0.0031475259780417786,
-0.00024544770886604874
],
[
0.362112101701947,
-0.023063496062022286,
0.0010242740551088905
],
[
0.3376963864963927,
-0.021859397785757222,
0.00032578119582819256
]
],
"num_cameras": 4,
"edge_length_mm": 24.54493771503852
},
{
"marker_id": 217,
"link": "Board",
"position_m": [
0.6499143076022632,
-0.09010683259720852,
0.00044027889885426516
],
"position_mm": [
649.9143076022632,
-90.10683259720852,
0.4402788988542652
],
"normal": [
0.008612711441439094,
0.010639342809364072,
0.9999063084040483
],
"corners_m": [
[
0.6382048082385382,
-0.07790679100341838,
0.0004147687824874584
],
[
0.6620966022187929,
-0.07844729682587855,
0.00020781540004733776
],
[
0.661461436405876,
-0.10221056796823988,
0.00047312319138437107
],
[
0.6378943835458459,
-0.10186267459129723,
0.0006654082214978935
]
],
"num_cameras": 4,
"edge_length_mm": 23.800413142473445
},
{
"marker_id": 229,
"link": "Arm1",
"position_m": [
0.16999603560522317,
-0.14305758580034722,
0.0872434679023587
],
"position_mm": [
169.99603560522317,
-143.05758580034723,
87.2434679023587
],
"normal": [
-0.005780702114960031,
-0.028041650861946113,
0.9995900406166495
],
"corners_m": [
[
0.1578699302016935,
-0.1310073231303497,
0.08757235754620227
],
[
0.18219967214139196,
-0.13123558205232755,
0.08758417820083021
],
[
0.1819974390391225,
-0.15500579675639772,
0.08703982896476334
],
[
0.15791710103868473,
-0.15498164126231395,
0.086777506897639
]
],
"num_cameras": 6,
"edge_length_mm": 24.044359629962145
},
{
"marker_id": 232,
"link": "Ellbow",
"position_m": [
0.2597104840461615,
-0.16819337494096787,
0.02823384102527781
],
"position_mm": [
259.71048404616147,
-168.19337494096786,
28.233841025277812
],
"normal": [
0.00800221569270977,
-0.7386300949792374,
-0.6740634594272041
],
"corners_m": [
[
0.24740729314714024,
-0.17685873401230984,
0.037356900073909904
],
[
0.2719826951290238,
-0.17580580438116353,
0.03696012699718658
],
[
0.2720317225690746,
-0.1602047828076046,
0.019387634313185634
],
[
0.24742022533940736,
-0.15990417856279351,
0.019230702716829133
]
],
"num_cameras": 3,
"edge_length_mm": 24.38332710312234
},
{
"marker_id": 243,
"link": "Arm1",
"position_m": [
0.16994955290482183,
-0.17718184972728457,
0.0506602848197535
],
"position_mm": [
169.94955290482184,
-177.18184972728457,
50.6602848197535
],
"normal": [
-0.00504413189965229,
-0.99905827094656,
-0.0430944078349943
],
"corners_m": [
[
0.1579754636053738,
-0.17752641577326245,
0.06272112478605896
],
[
0.18201275131251113,
-0.17788452991584836,
0.06288335706369644
],
[
0.18208402309024174,
-0.17660712452533556,
0.03853641682210972
],
[
0.15772597361116064,
-0.17670932869469186,
0.038500240607148906
]
],
"num_cameras": 5,
"edge_length_mm": 24.253818001664005
},
{
"marker_id": 244,
"link": "Ellbow",
"position_m": [
0.29528979378479947,
-0.14177169350741886,
0.05172223291477794
],
"position_mm": [
295.2897937847995,
-141.77169350741886,
51.72223291477794
],
"normal": [
0.9996576262937871,
-0.010849348490038102,
0.023810120327560403
],
"corners_m": [
[
0.29557533447314394,
-0.1306377053183726,
0.03935053327151878
],
[
0.29555031734364906,
-0.1553202742610709,
0.03982334367336576
],
[
0.2947384823717836,
-0.1523453561640959,
0.06461074195136725
],
[
0.2952950409506213,
-0.1287834382861361,
0.06310431276285998
]
],
"num_cameras": 2,
"edge_length_mm": 24.27746587742737
},
{
"marker_id": 245,
"link": "Ellbow",
"position_m": [
0.26000707561054087,
-0.17719928748840671,
0.05377919430664794
],
"position_mm": [
260.0070756105409,
-177.19928748840672,
53.77919430664794
],
"normal": [
0.0010089878956284948,
-0.9991840203888306,
0.040376668300387324
],
"corners_m": [
[
0.27221118382458365,
-0.1766458657587726,
0.06577559645409913
],
[
0.2720620938294304,
-0.17773452948819335,
0.04163435459595493
],
[
0.24787130619151732,
-0.17764631779684698,
0.04163457522267251
],
[
0.24788371859663214,
-0.17677043690981384,
0.06607225095386518
]
],
"num_cameras": 5,
"edge_length_mm": 24.285036947365523
},
{
"marker_id": 248,
"link": "Ellbow",
"position_m": [
0.2224791618891127,
-0.17729496106159615,
0.05382855584558481
],
"position_mm": [
222.4791618891127,
-177.29496106159615,
53.82855584558481
],
"normal": [
0.004465425910306104,
-0.9992884711223161,
0.03745145462413445
],
"corners_m": [
[
0.23473557801729356,
-0.17678354825523374,
0.06598446641276833
],
[
0.23457199482210161,
-0.17770201944307643,
0.04155385797129339
],
[
0.2102324123171548,
-0.17780362041695771,
0.04168817433869671
],
[
0.21037666239990088,
-0.17689065613111665,
0.06608772465958082
]
],
"num_cameras": 5,
"edge_length_mm": 24.391250124000827
}
]
}