Files
appRobotRender/pipeline/aruco_positions_initial.json
2026-05-30 07:52:59 +02:00

124 lines
2.5 KiB
JSON

{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-05-29T17:30:29Z",
"summary": {
"num_cameras": 3,
"num_markers": 8,
"num_constraints": 25
},
"markers": [
{
"marker_id": 122,
"position_m": [
0.14895405123790784,
-0.2643844341363741,
0.16564713440852427
],
"position_mm": [
148.95405123790783,
-264.38443413637407,
165.64713440852427
],
"link": "Arm2"
},
{
"marker_id": 198,
"position_m": [
0.11667067734641628,
-0.05481782829770797,
0.13564627196635054
],
"position_mm": [
116.67067734641628,
-54.81782829770797,
135.64627196635055
],
"link": "Arm1"
},
{
"marker_id": 210,
"position_m": [
0.020141782836696105,
-0.019633567005699154,
7.847443788934222e-06
],
"position_mm": [
20.141782836696105,
-19.633567005699152,
0.007847443788934223
],
"link": "Board"
},
{
"marker_id": 211,
"position_m": [
0.2496094175197415,
-0.009326316290609264,
-0.0005379225707190097
],
"position_mm": [
249.6094175197415,
-9.326316290609263,
-0.5379225707190097
],
"link": "Board"
},
{
"marker_id": 214,
"position_m": [
0.3498840022857963,
-0.009714324911855806,
-2.6845703214407957e-05
],
"position_mm": [
349.8840022857963,
-9.714324911855806,
-0.026845703214407955
],
"link": "Board"
},
{
"marker_id": 215,
"position_m": [
0.24976330898445626,
-0.08967780487999989,
-0.00011862459122980862
],
"position_mm": [
249.76330898445624,
-89.6778048799999,
-0.11862459122980862
],
"link": "Board"
},
{
"marker_id": 229,
"position_m": [
0.11592480843458029,
-0.1392249195451953,
0.14252312456392438
],
"position_mm": [
115.9248084345803,
-139.22491954519532,
142.52312456392437
],
"link": "Arm1"
},
{
"marker_id": 243,
"position_m": [
0.11871032400722982,
-0.17057910506578056,
0.0996476225849942
],
"position_mm": [
118.71032400722981,
-170.57910506578057,
99.6476225849942
],
"link": "Arm1"
}
]
}