Files
appRobotRender/data/evaluations/Scene8/aruco_positions_optimized.json
2026-06-02 07:09:26 +02:00

1203 lines
23 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-02T05:07:06Z",
"summary": {
"num_cameras": 7,
"num_markers": 56,
"num_constraints": 94
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.29974303527305857,
-0.7994729557751761,
0.799983573039528
],
"position_mm": [
-299.7430352730586,
-799.472955775176,
799.9835730395281
],
"direction": [
0.47883105278015137,
0.6566431522369385,
-0.5827010869979858
]
},
{
"camera_id": "b",
"position_m": [
0.29961568856813403,
-0.8998160050145382,
1.199335271655186
],
"position_mm": [
299.61568856813403,
-899.8160050145382,
1199.335271655186
],
"direction": [
0.008155946619808674,
0.6263301372528076,
-0.7795152068138123
]
},
{
"camera_id": "c",
"position_m": [
0.3002008026229006,
-0.8996807562773264,
0.39938967074571
],
"position_mm": [
300.2008026229006,
-899.6807562773264,
399.38967074571
],
"direction": [
-0.1066587045788765,
0.9489964246749878,
-0.29669803380966187
]
},
{
"camera_id": "d",
"position_m": [
0.7003813368433853,
-0.7988013064306642,
0.39999626468171434
],
"position_mm": [
700.3813368433853,
-798.8013064306641,
399.99626468171436
],
"direction": [
-0.5507431626319885,
0.7856968641281128,
-0.2817133069038391
]
},
{
"camera_id": "e",
"position_m": [
1.1991888668149988,
-0.9000124276162538,
0.39959462918408095
],
"position_mm": [
1199.1888668149988,
-900.0124276162537,
399.59462918408093
],
"direction": [
-0.7494407892227173,
0.6064770817756653,
-0.2655636966228485
]
},
{
"camera_id": "f",
"position_m": [
0.5001371392778484,
-0.3017310886953837,
1.3992150131682302
],
"position_mm": [
500.1371392778484,
-301.7310886953837,
1399.2150131682301
],
"direction": [
-0.23785872757434845,
0.08067604899406433,
-0.9679434895515442
]
},
{
"camera_id": "g",
"position_m": [
-0.20001953098363734,
0.20072560979846057,
1.3992245320650676
],
"position_mm": [
-200.01953098363734,
200.72560979846057,
1399.2245320650675
],
"direction": [
0.29713600873947144,
-0.2979627847671509,
-0.9071540236473083
]
}
],
"markers": [
{
"marker_id": 41,
"position_m": [
0.2604999532188949,
-0.1432431252562388,
0.3445672581183604
],
"position_mm": [
260.4999532188949,
-143.2431252562388,
344.5672581183604
],
"link": "FingerA",
"normal": [
0.0,
-0.9375276894468237,
0.34791066600565723
]
},
{
"marker_id": 42,
"position_m": [
0.2914570710781641,
-0.17915739832664695,
0.3448155785157702
],
"position_mm": [
291.4570710781641,
-179.15739832664696,
344.8155785157702
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.24503062811265544,
-0.1754076103365601,
0.345043215487906
],
"position_mm": [
245.03062811265545,
-175.4076103365601,
345.043215487906
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 44,
"position_m": [
0.26173743063383226,
-0.1730901643706703,
0.29922878027477734
],
"position_mm": [
261.7374306338323,
-173.0901643706703,
299.22878027477736
],
"link": "FingerB",
"normal": [
0.0,
-0.9375276894468237,
-0.34791066600565723
]
},
{
"marker_id": 46,
"position_m": [
0.5366734472277681,
0.18528345107476357,
-0.02743069536012021
],
"position_mm": [
536.6734472277681,
185.28345107476358,
-27.43069536012021
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 47,
"position_m": [
0.3443264653155787,
-0.2865913343484021,
-0.027227867402582217
],
"position_mm": [
344.3264653155787,
-286.59133434840214,
-27.227867402582216
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.1678910801564931,
-0.17204442041975326,
-0.02738992939574416
],
"position_mm": [
167.8910801564931,
-172.04442041975327,
-27.38992939574416
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.486196534139737,
0.21219386651364422,
-0.02715116752534116
],
"position_mm": [
486.196534139737,
212.19386651364422,
-27.151167525341158
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.34225645987987774,
-0.33063626738358415,
-0.027171562292934378
],
"position_mm": [
342.25645987987775,
-330.63626738358414,
-27.17156229293438
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.283799134763269,
-0.26267517845184796,
-0.02726885154341646
],
"position_mm": [
283.799134763269,
-262.67517845184796,
-27.26885154341646
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 56,
"position_m": [
0.4985993361560967,
0.16861611871142673,
-0.02715531820327237
],
"position_mm": [
498.5993361560967,
168.61611871142674,
-27.15531820327237
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.0501237479513134,
-0.21798550656908486,
-0.02727930198762605
],
"position_mm": [
50.1237479513134,
-217.98550656908486,
-27.27930198762605
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 60,
"position_m": [
0.434352793694841,
0.2837009473521671,
-0.02727458615226638
],
"position_mm": [
434.35279369484095,
283.70094735216713,
-27.27458615226638
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 61,
"position_m": [
-0.02242110231348154,
0.33623418525163806,
-0.027495449112566964
],
"position_mm": [
-22.42110231348154,
336.23418525163805,
-27.495449112566963
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4046463612106729,
-0.1750438176000289,
-0.027409882633056853
],
"position_mm": [
404.64636121067286,
-175.04381760002892,
-27.409882633056853
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7773915018435228,
-0.23621407933680233,
-0.027620337761147105
],
"position_mm": [
777.3915018435227,
-236.21407933680234,
-27.620337761147105
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.021306744669289283,
-0.18827442528912888,
-0.02729168323541286
],
"position_mm": [
-21.306744669289284,
-188.27442528912889,
-27.29168323541286
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 66,
"position_m": [
0.20976328453808432,
-0.36319850352446786,
-0.0273679458115265
],
"position_mm": [
209.76328453808432,
-363.19850352446787,
-27.3679458115265
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 68,
"position_m": [
0.5737010212385768,
0.17050288408959002,
-0.027312152640238306
],
"position_mm": [
573.7010212385768,
170.50288408959003,
-27.312152640238306
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.007442192600101327,
-0.2809486716790222,
-0.027569352125636593
],
"position_mm": [
7.442192600101327,
-280.9486716790222,
-27.569352125636595
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.44096660639052154,
0.19419809211389144,
-0.027176790393051948
],
"position_mm": [
440.9666063905215,
194.19809211389145,
-27.17679039305195
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 73,
"position_m": [
0.22169721036842452,
0.3328630322763799,
-0.027127119517884248
],
"position_mm": [
221.69721036842452,
332.8630322763799,
-27.127119517884246
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 75,
"position_m": [
-0.02570401091952567,
0.19452802327270824,
-0.027320576916107737
],
"position_mm": [
-25.704010919525672,
194.52802327270825,
-27.320576916107736
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.31233730640109586,
-0.15899224291404376,
-0.027445941354721563
],
"position_mm": [
312.3373064010959,
-158.99224291404377,
-27.445941354721562
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 82,
"position_m": [
0.21938342685883397,
0.2969770063804851,
-0.02680884945787207
],
"position_mm": [
219.38342685883396,
296.9770063804851,
-26.808849457872068
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 83,
"position_m": [
0.044175329738752114,
0.33928180528834023,
-0.027369867192260144
],
"position_mm": [
44.17532973875211,
339.28180528834025,
-27.369867192260145
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 84,
"position_m": [
0.40748562033097957,
0.2583079550979998,
-0.027273166843798456
],
"position_mm": [
407.48562033097954,
258.3079550979998,
-27.273166843798457
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5044814875942478,
-0.3127976922417601,
-0.027365931767401305
],
"position_mm": [
504.4814875942478,
-312.79769224176005,
-27.365931767401307
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.3631286533444359,
0.2922180637319873,
-0.027382044805019795
],
"position_mm": [
363.1286533444359,
292.2180637319873,
-27.382044805019795
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6451515462740215,
-0.1847331385310954,
-0.02725475322263709
],
"position_mm": [
645.1515462740215,
-184.73313853109542,
-27.25475322263709
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18594384358828336,
-0.2740676988445994,
-0.027308979453083793
],
"position_mm": [
185.94384358828336,
-274.0676988445994,
-27.308979453083793
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3697414295223889,
-0.18650950193123114,
-0.027264513562704405
],
"position_mm": [
369.7414295223889,
-186.50950193123114,
-27.264513562704405
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 97,
"position_m": [
0.30436727596417795,
-0.3597563348721606,
-0.02710392798886129
],
"position_mm": [
304.36727596417796,
-359.75633487216055,
-27.10392798886129
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6497868224209304,
-0.22288737054674426,
-0.02759286581165635
],
"position_mm": [
649.7868224209304,
-222.88737054674425,
-27.592865811656353
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.1058089841134474,
-0.18770518577065165,
-0.027252921657736573
],
"position_mm": [
105.8089841134474,
-187.70518577065164,
-27.25292165773657
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 105,
"position_m": [
0.5247152749707369,
-0.2662869638872861,
-0.027115950933820365
],
"position_mm": [
524.7152749707369,
-266.2869638872861,
-27.115950933820365
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 114,
"position_m": [
0.29011289067493223,
-0.17587019672898854,
0.23595712720428103
],
"position_mm": [
290.11289067493226,
-175.87019672898853,
235.95712720428102
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 115,
"position_m": [
0.24109585009750337,
-0.1689745239224338,
0.2363727674055173
],
"position_mm": [
241.09585009750336,
-168.9745239224338,
236.3727674055173
],
"link": "Arm2",
"normal": [
-0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 120,
"position_m": [
0.31011744859162593,
-0.22947159367354078,
0.19561991694301187
],
"position_mm": [
310.11744859162593,
-229.47159367354078,
195.61991694301187
],
"link": "Arm2",
"normal": [
0.7071067811865475,
0.0,
-0.7071067811865475
]
},
{
"marker_id": 198,
"position_m": [
0.15215307004817968,
-0.053523065866566175,
0.09110677205175004
],
"position_mm": [
152.15307004817967,
-53.52306586656618,
91.10677205175004
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 205,
"position_m": [
0.7500933017011266,
-0.08996727584191387,
0.0003747642829036929
],
"position_mm": [
750.0933017011266,
-89.96727584191387,
0.3747642829036929
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 206,
"position_m": [
0.6502439941003321,
-0.00982429654410694,
0.00013759365208240205
],
"position_mm": [
650.2439941003321,
-9.82429654410694,
0.13759365208240204
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 207,
"position_m": [
0.7502438932183038,
-0.009967780477989494,
0.0001337076727970862
],
"position_mm": [
750.2438932183038,
-9.967780477989495,
0.1337076727970862
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.35002136300742565,
-0.08996465262861385,
0.00038110297099814015
],
"position_mm": [
350.02136300742563,
-89.96465262861385,
0.38110297099814017
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.019977334820001344,
-0.020049804923108695,
0.0003200237423635286
],
"position_mm": [
19.977334820001342,
-20.049804923108695,
0.3200237423635286
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.2498389378293673,
-0.010150377863237112,
0.00020433494677994925
],
"position_mm": [
249.8389378293673,
-10.150377863237113,
0.20433494677994926
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.3498835131599128,
-0.009964888801313595,
0.0002455518871336196
],
"position_mm": [
349.8835131599128,
-9.964888801313595,
0.24555188713361958
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.24986214415923558,
-0.09015006690391889,
0.0004261087427227836
],
"position_mm": [
249.86214415923558,
-90.15006690391888,
0.4261087427227836
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 217,
"position_m": [
0.6501320382747399,
-0.08982421084177389,
9.457911045273182e-05
],
"position_mm": [
650.1320382747399,
-89.82421084177389,
0.09457911045273182
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 219,
"position_m": [
0.30359101110823783,
-0.15023058515395632,
0.27127866989718824
],
"position_mm": [
303.5910111082378,
-150.23058515395633,
271.27866989718825
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 229,
"position_m": [
0.16001670704875492,
-0.14308129133239164,
0.08692479867715779
],
"position_mm": [
160.01670704875494,
-143.08129133239163,
86.92479867715778
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 232,
"position_m": [
0.23029315300663558,
-0.09276301267267016,
0.013952864286080287
],
"position_mm": [
230.29315300663558,
-92.76301267267016,
13.952864286080287
],
"link": "Ellbow",
"normal": [
0.0,
0.7071067811865475,
-0.7071067811865475
]
},
{
"marker_id": 243,
"position_m": [
0.16002569672523442,
-0.17674405987136999,
0.05063675787231035
],
"position_mm": [
160.0256967252344,
-176.74405987136998,
50.636757872310355
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 244,
"position_m": [
0.2771463546998002,
-0.11747452806940722,
0.04012135477198767
],
"position_mm": [
277.1463546998002,
-117.47452806940723,
40.121354771987676
],
"link": "Ellbow",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.23079172515629526,
-0.11805720694396472,
0.022773638332693948
],
"position_mm": [
230.79172515629526,
-118.05720694396473,
22.77363833269395
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.2091157716252766,
-0.14567683415744553,
0.035954142950351764
],
"position_mm": [
209.11577162527658,
-145.67683415744554,
35.954142950351766
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}