Files
appRobotRender/data/evaluations/Scene10/aruco_marker_poses.json
2026-06-02 17:16:24 +02:00

2160 lines
47 KiB
JSON

{
"schema_version": "1.1",
"stage": "corner_marker_poses",
"created_utc": "2026-06-02T10:50:23Z",
"summary": {
"num_cameras": 7,
"num_markers": 47
},
"cameras": [
{
"camera_id": "a",
"position_m": [
-0.29933086093117556,
-0.799418281839035,
0.8013386735184777
],
"position_mm": [
-299.33086093117555,
-799.418281839035,
801.3386735184777
],
"direction": [
0.47817692160606384,
0.6576254963874817,
-0.5821301937103271
]
},
{
"camera_id": "b",
"position_m": [
0.3043550841267686,
-0.9006585299837704,
1.1974942583045567
],
"position_mm": [
304.3550841267686,
-900.6585299837703,
1197.4942583045568
],
"direction": [
0.004664416890591383,
0.6281883716583252,
-0.7780473232269287
]
},
{
"camera_id": "c",
"position_m": [
0.30488742795416596,
-0.9022378496045158,
0.39740879204427204
],
"position_mm": [
304.88742795416596,
-902.2378496045158,
397.40879204427205
],
"direction": [
-0.1107490137219429,
0.9499404430389404,
-0.2921435534954071
]
},
{
"camera_id": "d",
"position_m": [
0.7022958321336629,
-0.7946037927881194,
0.4002397632483412
],
"position_mm": [
702.2958321336629,
-794.6037927881194,
400.2397632483412
],
"direction": [
-0.5541738867759705,
0.7833545804023743,
-0.2815082371234894
]
},
{
"camera_id": "e",
"position_m": [
1.200910699580048,
-0.9082618893804116,
0.40442475358705093
],
"position_mm": [
1200.910699580048,
-908.2618893804116,
404.42475358705093
],
"direction": [
-0.7464873790740967,
0.6096983551979065,
-0.2665041387081146
]
},
{
"camera_id": "f",
"position_m": [
0.5043257822393699,
-0.3007018874747587,
1.3972692930745578
],
"position_mm": [
504.32578223936986,
-300.7018874747587,
1397.269293074558
],
"direction": [
-0.24175237119197845,
0.08021868765354156,
-0.9670163989067078
]
},
{
"camera_id": "g",
"position_m": [
-0.2009176315776924,
0.2095023357802616,
1.3925743233326258
],
"position_mm": [
-200.91763157769242,
209.5023357802616,
1392.5743233326257
],
"direction": [
0.29953083395957947,
-0.3043880760669708,
-0.9042285084724426
]
}
],
"markers": [
{
"marker_id": 40,
"link": "FingerA",
"position_m": [
0.3056037866844361,
-0.20083625994784982,
0.024447815091116994
],
"position_mm": [
305.6037866844361,
-200.8362599478498,
24.447815091116993
],
"normal": [
0.13477010834569514,
-0.9693552810575258,
0.20539561091312275
],
"corners_m": [
[
0.292300661098869,
-0.20043033033890517,
0.03507564883804448
],
[
0.31594712338028647,
-0.1967079421264225,
0.037161054255807714
],
[
0.31878766691903404,
-0.2012785806210725,
0.0136929250428329
],
[
0.2953796953395551,
-0.20492818670499907,
0.011861632227782887
]
],
"num_cameras": 4,
"edge_length_mm": 23.92809021240592
},
{
"marker_id": 45,
"link": "FingerB",
"position_m": [
0.3545077212802522,
-0.1994537793950231,
0.02011366831515492
],
"position_mm": [
354.5077212802522,
-199.4537793950231,
20.11366831515492
],
"normal": [
0.7835621003866169,
-0.6146053309131458,
-0.09105340219264547
],
"corners_m": [
[
0.358410478439128,
-0.19730016914845702,
0.03710212961042456
],
[
0.3645533339782791,
-0.1856414860258287,
0.015412620318698651
],
[
0.3508422587032359,
-0.2020074094553956,
0.00362952815115376
],
[
0.3442248140003658,
-0.21286605295041103,
0.024310395180342708
]
],
"num_cameras": 3,
"edge_length_mm": 24.670790945906532
},
{
"marker_id": 46,
"link": "Board",
"position_m": [
0.5338609654678397,
0.18233160247179309,
-0.026799629610117965
],
"position_mm": [
533.8609654678397,
182.33160247179308,
-26.799629610117965
],
"normal": [
0.005538422824229369,
-0.07833459683651095,
0.9969117397297925
],
"corners_m": [
[
0.5223820512140086,
0.17082830024803067,
-0.02748572990406266
],
[
0.5220644343950895,
0.1939694560828294,
-0.02597398742516827
],
[
0.5453207060047522,
0.19351371850017288,
-0.025826204349542522
],
[
0.5456766702575083,
0.17101493505613943,
-0.027912596761698414
]
],
"num_cameras": 2,
"edge_length_mm": 23.087814941330596
},
{
"marker_id": 47,
"link": "Board",
"position_m": [
0.34363800828663166,
-0.288188236471285,
-0.027242688992347226
],
"position_mm": [
343.63800828663165,
-288.188236471285,
-27.242688992347226
],
"normal": [
0.00914288711157738,
0.00044436880317966226,
0.9999581041981868
],
"corners_m": [
[
0.3319117317776063,
-0.29993162345902247,
-0.027344233916139396
],
[
0.3320625452278434,
-0.2763721673183949,
-0.026931921302324077
],
[
0.3555668432004011,
-0.27653969028551767,
-0.027568821131694496
],
[
0.3550109129406757,
-0.2999094648222049,
-0.027125779619230926
]
],
"num_cameras": 4,
"edge_length_mm": 23.38946934538774
},
{
"marker_id": 48,
"link": "Board",
"position_m": [
0.6871149674698842,
-0.31823986859160636,
-0.02727574345677028
],
"position_mm": [
687.1149674698842,
-318.23986859160635,
-27.27574345677028
],
"normal": [
0.01698614656868216,
0.023258766787743634,
0.9995851642517813
],
"corners_m": [
[
0.6753951371738562,
-0.33023983031132426,
-0.026750889556758528
],
[
0.6759274868855981,
-0.30639062676306955,
-0.027410119871803928
],
[
0.6982997117725644,
-0.30690458404184967,
-0.027677981924342822
],
[
0.6988375340475179,
-0.32942443325018195,
-0.027263982474175823
]
],
"num_cameras": 3,
"edge_length_mm": 23.05906029879788
},
{
"marker_id": 50,
"link": "Board",
"position_m": [
0.5711429659935316,
0.21169706515996314,
-0.02717931151104288
],
"position_mm": [
571.1429659935317,
211.69706515996313,
-27.17931151104288
],
"normal": [
-0.0019447020486607477,
0.038654183308046125,
0.9992507554396594
],
"corners_m": [
[
0.5597960192023311,
0.19969129539380684,
-0.026865184069983946
],
[
0.5595775031990432,
0.2236428312064731,
-0.027534173534349768
],
[
0.5823593973124518,
0.22343069573027555,
-0.02774400565426989
],
[
0.5828389442603001,
0.20002343830929717,
-0.026573882785567906
]
],
"num_cameras": 2,
"edge_length_mm": 23.308568180663833
},
{
"marker_id": 51,
"link": "Board",
"position_m": [
0.16800780219375433,
-0.17339352112227785,
-0.027457539500994964
],
"position_mm": [
168.00780219375434,
-173.39352112227786,
-27.457539500994965
],
"normal": [
-0.0027978009531252324,
0.002294295742964581,
0.9999934542370118
],
"corners_m": [
[
0.15588064144599872,
-0.1844409292047177,
-0.027567773485155392
],
[
0.15655142415485707,
-0.1613485368665125,
-0.02741585590661348
],
[
0.18017638206787898,
-0.16208357772050053,
-0.02754854141511559
],
[
0.17942276110628247,
-0.18570104069738072,
-0.0272979871970954
]
],
"num_cameras": 5,
"edge_length_mm": 23.486892448620214
},
{
"marker_id": 53,
"link": "Board",
"position_m": [
0.48818556587238376,
0.214644907213898,
-0.026754694798050028
],
"position_mm": [
488.1855658723838,
214.644907213898,
-26.75469479805003
],
"normal": [
-0.004031020882063113,
-0.01974151189348905,
0.999796991183114
],
"corners_m": [
[
0.4764892373066105,
0.2032926699730542,
-0.027240080892221286
],
[
0.47681554255304054,
0.2264061852932558,
-0.026352386869531074
],
[
0.49978413736847843,
0.22591365193719865,
-0.02670309925057583
],
[
0.4996533462614056,
0.20296712165208347,
-0.026723212179871916
]
],
"num_cameras": 3,
"edge_length_mm": 23.057120571586086
},
{
"marker_id": 54,
"link": "Board",
"position_m": [
0.33968430857017,
-0.32787081618058644,
-0.02725113239288275
],
"position_mm": [
339.68430857017,
-327.8708161805864,
-27.251132392882752
],
"normal": [
0.02125173075137608,
0.030285514468192498,
0.9993153413980334
],
"corners_m": [
[
0.32787967804119966,
-0.33954349130748784,
-0.026660265161708517
],
[
0.32826930507431723,
-0.31628116574160603,
-0.027345500602108372
],
[
0.3513334355808141,
-0.3161353860934119,
-0.027868562240980263
],
[
0.3512548155843491,
-0.33952322157983994,
-0.027130201566733844
]
],
"num_cameras": 5,
"edge_length_mm": 23.281422028365057
},
{
"marker_id": 55,
"link": "Board",
"position_m": [
0.2844821343720581,
-0.26101773488555635,
-0.027265164440627335
],
"position_mm": [
284.4821343720581,
-261.01773488555637,
-27.265164440627334
],
"normal": [
-0.010416376312727146,
0.012842879709045404,
0.999863270425157
],
"corners_m": [
[
0.27239814905290943,
-0.2724080203543253,
-0.027309702801885553
],
[
0.273242331865327,
-0.2488466058658993,
-0.02747315554829581
],
[
0.29647533304283036,
-0.2498294902614415,
-0.02735051155414846
],
[
0.29581272352716553,
-0.27298682306055916,
-0.026927287858179525
]
],
"num_cameras": 4,
"edge_length_mm": 23.356682631275504
},
{
"marker_id": 56,
"link": "Board",
"position_m": [
0.4997986514343858,
0.16517827506335625,
-0.027069626941093165
],
"position_mm": [
499.79865143438576,
165.17827506335624,
-27.069626941093166
],
"normal": [
0.0457361145518492,
-0.049042624325233874,
0.9977489808689328
],
"corners_m": [
[
0.48800937427211055,
0.1538171037983756,
-0.02689779700403147
],
[
0.4882980967903345,
0.1770033774930941,
-0.026149847102469623
],
[
0.5116770107272287,
0.17635848715588665,
-0.02687327402621943
],
[
0.5112101239478692,
0.1535341318060687,
-0.02835758963165214
]
],
"num_cameras": 2,
"edge_length_mm": 23.181202053642817
},
{
"marker_id": 57,
"link": "Board",
"position_m": [
0.6042968269165394,
-0.3653276540644816,
-0.02749609900683434
],
"position_mm": [
604.2968269165394,
-365.3276540644816,
-27.496099006834342
],
"normal": [
0.03425379542663542,
-0.0045187419592823685,
0.9994029510012343
],
"corners_m": [
[
0.5919620501991132,
-0.3760401746499152,
-0.02690835118530907
],
[
0.5940044339340937,
-0.3528206498938019,
-0.02730014909091763
],
[
0.6166297047481499,
-0.35483730070231617,
-0.027653881773072805
],
[
0.6145911187848009,
-0.37761249101189304,
-0.028122013978037867
]
],
"num_cameras": 2,
"edge_length_mm": 22.90432426287648
},
{
"marker_id": 58,
"link": "Board",
"position_m": [
0.04753851027009275,
-0.21695254297026426,
-0.026939800611586122
],
"position_mm": [
47.53851027009275,
-216.95254297026426,
-26.939800611586122
],
"normal": [
0.012339112441755102,
0.004039392906146466,
0.9999157112522533
],
"corners_m": [
[
0.035775447917152405,
-0.2291093419865208,
-0.026684253040992055
],
[
0.035700296658887576,
-0.20549315399315302,
-0.026901247483031018
],
[
0.05931121244864981,
-0.20496195302257306,
-0.027071398553994905
],
[
0.05936708405568123,
-0.22824572287881018,
-0.027102303368326523
]
],
"num_cameras": 3,
"edge_length_mm": 23.532451160372272
},
{
"marker_id": 59,
"link": "Board",
"position_m": [
0.6270651809684169,
-0.27668632868368015,
-0.026711841158356564
],
"position_mm": [
627.0651809684169,
-276.68632868368013,
-26.711841158356563
],
"normal": [
-0.018006941553865136,
-0.014833591159439163,
0.9997278202736934
],
"corners_m": [
[
0.616264291848205,
-0.2883631056794338,
-0.026951486359333445
],
[
0.6153521891089062,
-0.26575254973025664,
-0.026888136528951088
],
[
0.6379048943354162,
-0.26474737529376396,
-0.02621481751881942
],
[
0.6387393485811403,
-0.28788228403126637,
-0.0267929242263223
]
],
"num_cameras": 2,
"edge_length_mm": 22.7130240114093
},
{
"marker_id": 62,
"link": "Board",
"position_m": [
0.40187517549902174,
-0.17275919776090556,
-0.02808808922005476
],
"position_mm": [
401.87517549902174,
-172.75919776090555,
-28.08808922005476
],
"normal": [
0.002886591220908133,
-0.004618437438156042,
0.999985168703393
],
"corners_m": [
[
0.3905854089699748,
-0.18455907140939193,
-0.028254541150089758
],
[
0.38976158590183324,
-0.16205516238779794,
-0.02785738384233798
],
[
0.41300042759949507,
-0.1605126106877108,
-0.02820432483483781
],
[
0.41415327952478403,
-0.1839099465587216,
-0.02803610705295349
]
],
"num_cameras": 3,
"edge_length_mm": 23.20479882011678
},
{
"marker_id": 63,
"link": "Board",
"position_m": [
0.7752481662197889,
-0.23615382783041636,
-0.02760726967347841
],
"position_mm": [
775.2481662197889,
-236.15382783041636,
-27.60726967347841
],
"normal": [
0.007847435194180543,
0.02357341798606949,
0.9996913082173553
],
"corners_m": [
[
0.7643003533985732,
-0.24830017642578392,
-0.027113951322284297
],
[
0.7636204517461511,
-0.22502745465107776,
-0.027899185006093827
],
[
0.7862190665899195,
-0.22430123866379129,
-0.02784885894376322
],
[
0.786852793144512,
-0.24698644158101246,
-0.02756708342177229
]
],
"num_cameras": 3,
"edge_length_mm": 22.799310773065265
},
{
"marker_id": 64,
"link": "Board",
"position_m": [
-0.01908633297340962,
-0.18974075660097445,
-0.026689650655307703
],
"position_mm": [
-19.086332973409622,
-189.74075660097444,
-26.6896506553077
],
"normal": [
0.00708952906450125,
0.004430807655955159,
0.9999650526499211
],
"corners_m": [
[
-0.030906090322398768,
-0.20132535434259932,
-0.02663260632376808
],
[
-0.030599337578516926,
-0.17805291176454566,
-0.026580930817257105
],
[
-0.007386372774436427,
-0.1781991775898629,
-0.02690291473107593
],
[
-0.007453531218286373,
-0.20138558270688983,
-0.026642150749129692
]
],
"num_cameras": 5,
"edge_length_mm": 23.282696774655033
},
{
"marker_id": 66,
"link": "Board",
"position_m": [
0.20983926732638208,
-0.36412158002446054,
-0.0267647848736428
],
"position_mm": [
209.83926732638207,
-364.12158002446057,
-26.7647848736428
],
"normal": [
0.006997935526975802,
-0.026372414331363947,
0.9996276930241055
],
"corners_m": [
[
0.19764829992915747,
-0.37577451435923587,
-0.02693219060354647
],
[
0.19858857374572833,
-0.35204233423103026,
-0.026423910115228794
],
[
0.22163289954804358,
-0.3527007715424081,
-0.026488346524467063
],
[
0.221487296082599,
-0.3759686999651681,
-0.027214692251328873
]
],
"num_cameras": 2,
"edge_length_mm": 23.482809318282694
},
{
"marker_id": 68,
"link": "Board",
"position_m": [
0.5741021013332882,
0.17372769723389853,
-0.026256319830360843
],
"position_mm": [
574.1021013332883,
173.72769723389854,
-26.256319830360844
],
"normal": [
0.0017176988877330437,
-0.027614172309177495,
0.9996171802236145
],
"corners_m": [
[
0.5625114202563963,
0.16210046564077701,
-0.02642435037461212
],
[
0.5622628505444165,
0.18515223761820818,
-0.026058126145345518
],
[
0.5853088965520749,
0.1852413057703372,
-0.02581854667290028
],
[
0.5863252379802653,
0.16241677990627168,
-0.026724256128585464
]
],
"num_cameras": 2,
"edge_length_mm": 23.196594671381913
},
{
"marker_id": 69,
"link": "Board",
"position_m": [
0.006042844634008705,
-0.2780549393685243,
-0.02686450316373851
],
"position_mm": [
6.042844634008706,
-278.05493936852434,
-26.86450316373851
],
"normal": [
0.008332575873543644,
0.010990900256523828,
0.9999048796214882
],
"corners_m": [
[
-0.005814614847895733,
-0.28962021261871523,
-0.026617575591339464
],
[
-0.005300100562654273,
-0.2661538316866764,
-0.02692197609184601
],
[
0.017794986946894294,
-0.2665161691653825,
-0.027068038774617886
],
[
0.01749110699969053,
-0.2899295440033231,
-0.02685042219715068
]
],
"num_cameras": 4,
"edge_length_mm": 23.32442041272672
},
{
"marker_id": 71,
"link": "Board",
"position_m": [
0.750753125276013,
-0.28541722895636723,
-0.026449180160222026
],
"position_mm": [
750.7531252760131,
-285.41722895636724,
-26.449180160222024
],
"normal": [
-0.04219578528935343,
-0.01956442078146026,
0.9989177889813059
],
"corners_m": [
[
0.7389350583502001,
-0.2962918630858761,
-0.026879723075689987
],
[
0.7407655320831539,
-0.2729959870327729,
-0.026922360819166175
],
[
0.7620561173873964,
-0.2745791649025422,
-0.025463400968984314
],
[
0.7612557932833015,
-0.2978019008042778,
-0.02653123577704763
]
],
"num_cameras": 2,
"edge_length_mm": 22.600598418394437
},
{
"marker_id": 72,
"link": "Board",
"position_m": [
0.44145662066047275,
0.19367308011308076,
-0.027246212208449257
],
"position_mm": [
441.45662066047277,
193.67308011308077,
-27.246212208449258
],
"normal": [
0.03440335271235116,
0.019897806359726933,
0.999209931207762
],
"corners_m": [
[
0.4303099567255658,
0.18157017601641345,
-0.026931443970731963
],
[
0.42950719375238056,
0.20474096193142008,
-0.026748121212645058
],
[
0.45269146229950286,
0.20582864996902012,
-0.028180572621998294
],
[
0.4533178698644419,
0.1825525325354693,
-0.027124711028421702
]
],
"num_cameras": 3,
"edge_length_mm": 23.194375366424257
},
{
"marker_id": 75,
"link": "Board",
"position_m": [
-0.02741267192986696,
0.19307098000906814,
-0.026556487402354466
],
"position_mm": [
-27.41267192986696,
193.07098000906814,
-26.556487402354467
],
"normal": [
-0.013717242191540156,
0.029364772962527323,
0.9994746356839267
],
"corners_m": [
[
-0.039730806252091945,
0.18234512076647894,
-0.026351000538161487
],
[
-0.03836749299704177,
0.20566461271726194,
-0.027136946434554
],
[
-0.015233119573876233,
0.2037476649441886,
-0.026642579773533494
],
[
-0.0163192688964579,
0.18052652160834304,
-0.026095422863168873
]
],
"num_cameras": 3,
"edge_length_mm": 23.331968674092455
},
{
"marker_id": 85,
"link": "Board",
"position_m": [
0.5066025735863043,
-0.31336723246509124,
-0.027592915715489594
],
"position_mm": [
506.60257358630435,
-313.36723246509126,
-27.592915715489593
],
"normal": [
-0.03329419119349995,
0.05368658047948127,
0.9980026292095582
],
"corners_m": [
[
0.49389640244241684,
-0.3250408783206404,
-0.026881702965668622
],
[
0.49686051117909275,
-0.2999879166153378,
-0.029183765050249513
],
[
0.5183909418453213,
-0.3025721832999284,
-0.027188874361215778
],
[
0.5172624388783865,
-0.3258679516244585,
-0.027117320484824455
]
],
"num_cameras": 3,
"edge_length_mm": 23.453525597850096
},
{
"marker_id": 92,
"link": "Board",
"position_m": [
0.6466838783849633,
-0.18694529742394608,
-0.027424163731066174
],
"position_mm": [
646.6838783849634,
-186.94529742394607,
-27.424163731066173
],
"normal": [
0.03773929709765903,
0.023322356517786694,
0.9990154218734724
],
"corners_m": [
[
0.6348377552571555,
-0.19898355752995237,
-0.026850478656699747
],
[
0.6351889407800186,
-0.1754968211158555,
-0.027102604271121506
],
[
0.6585335999078545,
-0.1752083481769549,
-0.028304378655265795
],
[
0.6581752175948246,
-0.1980924628730215,
-0.02743919334117766
]
],
"num_cameras": 2,
"edge_length_mm": 23.283305602341667
},
{
"marker_id": 95,
"link": "Board",
"position_m": [
0.18671935239773094,
-0.276904334478177,
-0.0270146508252418
],
"position_mm": [
186.71935239773094,
-276.904334478177,
-27.014650825241798
],
"normal": [
-0.004180115982966635,
-0.00315373083976106,
0.9999862902121005
],
"corners_m": [
[
0.175496533492802,
-0.28913140008450006,
-0.02697437726075132
],
[
0.17430212366689907,
-0.2657041188000271,
-0.02715786941284291
],
[
0.19788059454190735,
-0.26507015084213714,
-0.026799707168655974
],
[
0.19919815788931539,
-0.28771166818604393,
-0.027126649458717005
]
],
"num_cameras": 4,
"edge_length_mm": 23.368727852348204
},
{
"marker_id": 96,
"link": "Board",
"position_m": [
0.371834874389795,
-0.1837130702495933,
-0.02820038630438283
],
"position_mm": [
371.834874389795,
-183.7130702495933,
-28.20038630438283
],
"normal": [
0.0036310145440581337,
-0.032296001503726975,
0.9994717524874088
],
"corners_m": [
[
0.3601403016346391,
-0.1945993691409155,
-0.02891690153837847
],
[
0.3600695889190099,
-0.1729583382850043,
-0.027394760419876582
],
[
0.3832744943148863,
-0.1719925369564371,
-0.028249972267486746
],
[
0.38385511269064476,
-0.19530203661601628,
-0.028239910991789515
]
],
"num_cameras": 2,
"edge_length_mm": 22.996738491223496
},
{
"marker_id": 97,
"link": "Board",
"position_m": [
0.30644143721298717,
-0.3585173542622996,
-0.026718278742321237
],
"position_mm": [
306.4414372129872,
-358.5173542622996,
-26.71827874232124
],
"normal": [
0.006188176375292827,
-0.004981510215474438,
0.9999684450167023
],
"corners_m": [
[
0.29457985520002067,
-0.3700832693135507,
-0.026669535699726726
],
[
0.29499732773415915,
-0.3465304810300898,
-0.0266202594423206
],
[
0.31845872641196293,
-0.3470084632430296,
-0.02670264655610477
],
[
0.31772983950580597,
-0.37044720346252824,
-0.026880673271132853
]
],
"num_cameras": 3,
"edge_length_mm": 23.4068762931467
},
{
"marker_id": 102,
"link": "Board",
"position_m": [
0.6513347226484621,
-0.22355911657336838,
-0.0276487452145121
],
"position_mm": [
651.3347226484622,
-223.55911657336839,
-27.6487452145121
],
"normal": [
-0.015561141209249943,
-0.00866818490082666,
0.9998413441415548
],
"corners_m": [
[
0.6392743126523023,
-0.2342930354961269,
-0.027793794729353498
],
[
0.6406434842403617,
-0.2114529854911298,
-0.02784805494334404
],
[
0.6632149452037455,
-0.21273693664853266,
-0.027233100661028322
],
[
0.662206148497439,
-0.23575350865768419,
-0.027720030524322547
]
],
"num_cameras": 4,
"edge_length_mm": 22.879913856070647
},
{
"marker_id": 103,
"link": "Board",
"position_m": [
0.10474369624437785,
-0.19080559800646257,
-0.027145833876223227
],
"position_mm": [
104.74369624437784,
-190.80559800646256,
-27.14583387622323
],
"normal": [
0.011646479522267035,
-0.009870467207696687,
0.9998834599051228
],
"corners_m": [
[
0.09315185429427718,
-0.20281421911621092,
-0.027107472577137904
],
[
0.09268460544279251,
-0.17969317405510066,
-0.02691777517606869
],
[
0.11622230934031763,
-0.17886853299708672,
-0.027139467776244534
],
[
0.11691601590012407,
-0.201846465857452,
-0.027418619975441788
]
],
"num_cameras": 6,
"edge_length_mm": 23.36393069606806
},
{
"marker_id": 105,
"link": "Board",
"position_m": [
0.5220981489917433,
-0.26810362446474884,
-0.026668170059590702
],
"position_mm": [
522.0981489917433,
-268.10362446474886,
-26.6681700595907
],
"normal": [
-0.016385112999722264,
-0.01796423856321994,
0.999704363401916
],
"corners_m": [
[
0.510850315200817,
-0.27984272889602424,
-0.0269178279493921
],
[
0.5108321406392734,
-0.25650389527870077,
-0.026793964928657727
],
[
0.5330501401686144,
-0.25674853128735714,
-0.026130107269328906
],
[
0.5336599999582687,
-0.2793193423969131,
-0.02683078009098407
]
],
"num_cameras": 2,
"edge_length_mm": 22.74355080383725
},
{
"marker_id": 113,
"link": "Arm2",
"position_m": [
0.31109204926922557,
-0.15477061051406052,
0.15601000210287702
],
"position_mm": [
311.0920492692256,
-154.7706105140605,
156.01000210287702
],
"normal": [
-0.3481220924824963,
-0.7276393085450307,
0.5910601030231342
],
"corners_m": [
[
0.2996629973873534,
-0.14396791422620153,
0.16247672202127547
],
[
0.3220825355260927,
-0.1502254510987276,
0.16817919735637535
],
[
0.32264299203082425,
-0.16551984255615504,
0.1494802752201877
],
[
0.299979672132632,
-0.15936923417515794,
0.1439038138136696
]
],
"num_cameras": 6,
"edge_length_mm": 24.098626492669943
},
{
"marker_id": 205,
"link": "Board",
"position_m": [
0.7527698835711952,
-0.09025905041089533,
5.306320895496858e-05
],
"position_mm": [
752.7698835711952,
-90.25905041089533,
0.05306320895496858
],
"normal": [
-0.019870083089568773,
-0.02031299896621619,
0.9995961994080471
],
"corners_m": [
[
0.7411419562071143,
-0.07857964563460097,
2.4004774021649274e-05
],
[
0.7642058505006871,
-0.07898676432066677,
0.0005452964722326453
],
[
0.7643557524862126,
-0.10174822888665373,
1.3923385397916306e-05
],
[
0.7413759750907669,
-0.10172156280165982,
-0.0003709717958323365
]
],
"num_cameras": 3,
"edge_length_mm": 22.992755748221015
},
{
"marker_id": 206,
"link": "Board",
"position_m": [
0.6500935172973774,
-0.010155793909077749,
0.0002971634581323825
],
"position_mm": [
650.0935172973774,
-10.15579390907775,
0.2971634581323825
],
"normal": [
0.011662290572473116,
-0.007468411855900858,
0.9999041023032929
],
"corners_m": [
[
0.6384007844896843,
0.001339227665017613,
0.00047942883745304973
],
[
0.6616745354224947,
0.0017214302839568746,
0.00029059360381629526
],
[
0.6617884516241929,
-0.021702270226721353,
3.473663240145587e-05
],
[
0.6385102976531377,
-0.02198156335856413,
0.000383894758858729
]
],
"num_cameras": 2,
"edge_length_mm": 23.326680311442612
},
{
"marker_id": 208,
"link": "Board",
"position_m": [
0.35281086195437594,
-0.0890251219084757,
0.0010284188051416692
],
"position_mm": [
352.8108619543759,
-89.0251219084757,
1.0284188051416692
],
"normal": [
-0.01135132755026841,
-0.010278175230150847,
0.999882746364185
],
"corners_m": [
[
0.34142478628766154,
-0.07694048195762404,
0.0010290842965482217
],
[
0.36521693541114414,
-0.07793970597652121,
0.0012775775514619558
],
[
0.3643535942034183,
-0.10126323962917112,
0.0010392168700672523
],
[
0.34024813191528,
-0.09995706007058643,
0.0007677965024892468
]
],
"num_cameras": 2,
"edge_length_mm": 23.586402409354555
},
{
"marker_id": 210,
"link": "Board",
"position_m": [
0.0218019447608313,
-0.020389432943613495,
0.0010579968702923354
],
"position_mm": [
21.8019447608313,
-20.389432943613496,
1.0579968702923355
],
"normal": [
-0.009990712699570381,
0.004586685864668816,
0.9999395721605049
],
"corners_m": [
[
0.009483321431341177,
-0.008934320388719648,
0.0007482324321578984
],
[
0.033480994141329525,
-0.008855061598900468,
0.0012592466772294766
],
[
0.03417036982368535,
-0.031562677383529934,
0.0010959757148518167
],
[
0.010073093646969147,
-0.03220567240330393,
0.0011285326569301496
]
],
"num_cameras": 4,
"edge_length_mm": 23.527428461817937
},
{
"marker_id": 211,
"link": "Board",
"position_m": [
0.2532796735982946,
-0.008947826438624915,
4.679245636003984e-05
],
"position_mm": [
253.2796735982946,
-8.947826438624915,
0.04679245636003984
],
"normal": [
0.0121180291834239,
-0.0012308056202744448,
0.999925816491521
],
"corners_m": [
[
0.24192721950340437,
0.0033460704586925245,
1.1198095435865785e-05
],
[
0.26558986809713436,
0.0019092732869431337,
0.00010663898564173435
],
[
0.2650135307894498,
-0.020805863421287943,
-0.00029989617774297693
],
[
0.2405880760031901,
-0.020240786078847373,
0.00036922892210553617
]
],
"num_cameras": 3,
"edge_length_mm": 23.62530259126674
},
{
"marker_id": 214,
"link": "Board",
"position_m": [
0.3481850372464307,
-0.011193640705852027,
0.0007946626897868244
],
"position_mm": [
348.1850372464307,
-11.193640705852028,
0.7946626897868243
],
"normal": [
0.010656255680629338,
-0.020380889190907525,
0.9997354968043582
],
"corners_m": [
[
0.33663471006239115,
0.00028776685375038653,
0.0011308396538101642
],
[
0.36000677018750443,
-0.00025589414797471825,
0.0009129660843292055
],
[
0.360138691392656,
-0.02250270205919996,
0.0004160691706989206
],
[
0.33595997734317123,
-0.02230373346998382,
0.0007187758503090072
]
],
"num_cameras": 3,
"edge_length_mm": 23.104725648589802
},
{
"marker_id": 215,
"link": "Board",
"position_m": [
0.2504889533295351,
-0.08847169653653253,
0.00016122634060629593
],
"position_mm": [
250.4889533295351,
-88.47169653653253,
0.16122634060629593
],
"normal": [
0.007740046253647852,
0.002394180084253184,
0.9999671792542572
],
"corners_m": [
[
0.23912758329572767,
-0.07623747813672184,
0.00026575341145980246
],
[
0.26279913915200803,
-0.0773140807783796,
-6.747305173636758e-06
],
[
0.2619441213133615,
-0.10068515415984629,
0.00014742241227364117
],
[
0.23808496955704306,
-0.0996500730711824,
0.00023847684386537685
]
],
"num_cameras": 3,
"edge_length_mm": 23.60059759424354
},
{
"marker_id": 217,
"link": "Board",
"position_m": [
0.6468614471864339,
-0.08899865113104953,
-0.0001882454788225654
],
"position_mm": [
646.8614471864339,
-88.99865113104953,
-0.1882454788225654
],
"normal": [
0.032033006338067334,
0.02475687183090503,
0.9991801558288143
],
"corners_m": [
[
0.6362780970754311,
-0.07679717108764653,
-0.0002365400593165607
],
[
0.6593115228651893,
-0.07783064970269206,
-0.0007797010602128998
],
[
0.6576743987130141,
-0.10133829839691451,
-0.0003117898427441475
],
[
0.6341817700921011,
-0.10002848533694501,
0.0005750490469833465
]
],
"num_cameras": 2,
"edge_length_mm": 23.379467369207198
},
{
"marker_id": 218,
"link": "Arm2",
"position_m": [
0.35418431367991143,
-0.10098845411989389,
0.20011919472537607
],
"position_mm": [
354.18431367991144,
-100.98845411989389,
200.11919472537608
],
"normal": [
0.9454363896136269,
-0.26568775698934916,
0.18857372293169256
],
"corners_m": [
[
0.35024320383433366,
-0.10248961538124055,
0.21770555500271294
],
[
0.3580363525122931,
-0.08524853135771596,
0.2030449905477473
],
[
0.3581889875518184,
-0.09878477401242865,
0.18308551139151497
],
[
0.35026871082120065,
-0.11743089572819043,
0.1966407219595291
]
],
"num_cameras": 3,
"edge_length_mm": 24.56345993626799
},
{
"marker_id": 219,
"link": "Arm2",
"position_m": [
0.35498556213685656,
-0.16742676629306347,
0.11555103706072006
],
"position_mm": [
354.9855621368566,
-167.42676629306348,
115.55103706072006
],
"normal": [
0.9458300959891889,
-0.2674369326637913,
0.18407312831715736
],
"corners_m": [
[
0.35126047296496077,
-0.1681458689624293,
0.13436666436556058
],
[
0.35929386311441913,
-0.15113825886650364,
0.11632976956786513
],
[
0.3588507141112223,
-0.16674709004246752,
0.09745115411942773
],
[
0.35053719835682395,
-0.18367584730085346,
0.11405656019002677
]
],
"num_cameras": 3,
"edge_length_mm": 25.316372959784747
},
{
"marker_id": 231,
"link": "Ellbow",
"position_m": [
0.3217294511077259,
-0.014829917902062208,
0.31174817151378836
],
"position_mm": [
321.7294511077259,
-14.829917902062208,
311.74817151378835
],
"normal": [
0.021246367271899255,
-0.07036911445941385,
0.9972947305626083
],
"corners_m": [
[
0.30938779391171334,
-0.0032577726362841555,
0.31296822646328254
],
[
0.3335036146549229,
-0.0025904066507795205,
0.3122189126073511
],
[
0.33400883719422114,
-0.026302690999852153,
0.3108198650237431
],
[
0.3100175586700463,
-0.027168801321332998,
0.3109856819607768
]
],
"num_cameras": 3,
"edge_length_mm": 23.976100338246134
},
{
"marker_id": 242,
"link": "Arm1",
"position_m": [
0.23250824240355475,
-0.04918266447007407,
0.25825253256715563
],
"position_mm": [
232.50824240355476,
-49.18266447007407,
258.25253256715564
],
"normal": [
-0.043155872349918904,
-0.873320395348047,
-0.4852309323928643
],
"corners_m": [
[
0.2440733292272848,
-0.05624458948900663,
0.2692489033918323
],
[
0.2446393831706716,
-0.04398510666472537,
0.2485385475967552
],
[
0.2214447295980379,
-0.043110844568110325,
0.24754630956772714
],
[
0.2198755276182246,
-0.053390117158453966,
0.2676763697123078
]
],
"num_cameras": 2,
"edge_length_mm": 23.59480883760034
},
{
"marker_id": 243,
"link": "Arm1",
"position_m": [
0.2314994533181862,
-0.03665557160250075,
0.305375073807028
],
"position_mm": [
231.4994533181862,
-36.65557160250075,
305.375073807028
],
"normal": [
-0.003663819059543277,
-0.4913913717837717,
0.8709311661471084
],
"corners_m": [
[
0.21981286447718326,
-0.02625927651071275,
0.3111793159650429
],
[
0.24339727055736965,
-0.02648406452014602,
0.3111762103932978
],
[
0.24324011110426177,
-0.047166192639276946,
0.29948210356889504
],
[
0.21954756713393006,
-0.046712752739867275,
0.2996626653008764
]
],
"num_cameras": 6,
"edge_length_mm": 23.62931217982426
},
{
"marker_id": 246,
"link": "Ellbow",
"position_m": [
0.3217685354047156,
-0.045870895723278376,
0.2974251559095846
],
"position_mm": [
321.76853540471564,
-45.87089572327837,
297.42515590958465
],
"normal": [
-0.017208260400791767,
-0.7633518545687534,
0.6457536851620927
],
"corners_m": [
[
0.3095497351356881,
-0.03854237395140373,
0.3059125966990029
],
[
0.33340649181083754,
-0.038562268004323684,
0.306236473894794
],
[
0.33421094406022206,
-0.05393657641410962,
0.2883582045662253
],
[
0.30990697061211464,
-0.05244236452327646,
0.2891933484783164
]
],
"num_cameras": 5,
"edge_length_mm": 23.390535516147377
},
{
"marker_id": 247,
"link": "Ellbow",
"position_m": [
0.28324475982581715,
-0.04105991723116802,
0.30140648830749184
],
"position_mm": [
283.24475982581714,
-41.059917231168015,
301.4064883074918
],
"normal": [
0.0024877204692790368,
-0.7688607214625383,
0.6394114498810385
],
"corners_m": [
[
0.2708948144648778,
-0.033712865358559996,
0.3102146510244261
],
[
0.29476452241900164,
-0.0330735078735814,
0.3110385435709771
],
[
0.2956890529485844,
-0.04840933687183617,
0.29244770228583866
],
[
0.27163064947080484,
-0.04904395882069448,
0.2919250563487255
]
],
"num_cameras": 6,
"edge_length_mm": 23.989803546540735
}
]
}