Files
appRobotRender/data/camera_study/Scene10/k3_abd/aruco_positions_initial.json

505 lines
9.4 KiB
JSON

{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-02T21:18:16Z",
"summary": {
"num_cameras": 3,
"num_markers": 23,
"num_constraints": 94
},
"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": [
0.3032080331514599,
-0.8954064004634189,
1.2012942891546714
],
"position_mm": [
303.2080331514599,
-895.4064004634189,
1201.2942891546713
],
"direction": [
0.005782749503850937,
0.6244387030601501,
-0.7810524106025696
]
},
{
"camera_id": "d",
"position_m": [
0.7026420377142895,
-0.794595122683283,
0.4010946796990027
],
"position_mm": [
702.6420377142895,
-794.5951226832831,
401.0946796990027
],
"direction": [
-0.5536129474639893,
0.7829245924949646,
-0.2837987542152405
]
}
],
"markers": [
{
"marker_id": 40,
"position_m": [
0.30535804316010734,
-0.2000683586434736,
0.02459227325141969
],
"position_mm": [
305.35804316010734,
-200.0683586434736,
24.592273251419687
],
"link": "FingerA",
"normal": [
-0.4224220616915755,
0.0,
-0.9063992507699015
]
},
{
"marker_id": 47,
"position_m": [
0.3433730634904833,
-0.28835879724891644,
-0.027168376101358995
],
"position_mm": [
343.3730634904833,
-288.35879724891646,
-27.168376101358994
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16752239251855802,
-0.173509702327685,
-0.027101264944668656
],
"position_mm": [
167.52239251855804,
-173.509702327685,
-27.101264944668657
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.33950169858604884,
-0.3275067804475449,
-0.027211607353036394
],
"position_mm": [
339.50169858604886,
-327.5067804475449,
-27.211607353036396
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28422917842345546,
-0.260891074638646,
-0.02739442298722674
],
"position_mm": [
284.22917842345544,
-260.89107463864605,
-27.39442298722674
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.019687047586059325,
-0.18904874285087692,
-0.027644316419293775
],
"position_mm": [
-19.687047586059325,
-189.04874285087692,
-27.644316419293776
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.00555495322695158,
-0.2774649024805902,
-0.027478254848490234
],
"position_mm": [
5.5549532269515804,
-277.4649024805902,
-27.478254848490234
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 75,
"position_m": [
-0.027619523009286034,
0.19330209649474686,
-0.02652757806826013
],
"position_mm": [
-27.619523009286034,
193.30209649474685,
-26.52757806826013
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5063530924316049,
-0.3135538253142812,
-0.02766300592122651
],
"position_mm": [
506.35309243160486,
-313.5538253142812,
-27.66300592122651
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.186646056280353,
-0.2762214427578817,
-0.027365162092579796
],
"position_mm": [
186.646056280353,
-276.2214427578817,
-27.365162092579798
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6506496658425812,
-0.22406775861996026,
-0.027142007301685093
],
"position_mm": [
650.6496658425813,
-224.06775861996024,
-27.142007301685094
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10443137711131635,
-0.1901487365237244,
-0.02732465096966076
],
"position_mm": [
104.43137711131635,
-190.1487365237244,
-27.32465096966076
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.31092214143190405,
-0.1544255496113991,
0.15668034447010715
],
"position_mm": [
310.92214143190404,
-154.4255496113991,
156.68034447010714
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 205,
"position_m": [
0.7523091316145816,
-0.0908295201086147,
0.000834633856532585
],
"position_mm": [
752.3091316145816,
-90.8295201086147,
0.8346338565325849
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 206,
"position_m": [
0.6500135896057839,
-0.010136006087639692,
0.00037332949430560306
],
"position_mm": [
650.013589605784,
-10.136006087639691,
0.3733294943056031
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.021698298057675435,
-0.01987996226175908,
0.0004639115686330192
],
"position_mm": [
21.698298057675434,
-19.87996226175908,
0.4639115686330192
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.25300004414982186,
-0.009074606313736522,
0.00016276608304794952
],
"position_mm": [
253.00004414982186,
-9.074606313736522,
0.1627660830479495
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.347975371322791,
-0.010607968556895574,
0.0005435925742859373
],
"position_mm": [
347.975371322791,
-10.607968556895573,
0.5435925742859373
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.25041920016634434,
-0.08847728419421877,
0.0002108696475885868
],
"position_mm": [
250.41920016634432,
-88.47728419421877,
0.21086964758858678
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 218,
"position_m": [
0.3536314171939221,
-0.09947516209694193,
0.19956923774735225
],
"position_mm": [
353.6314171939221,
-99.47516209694193,
199.56923774735225
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 243,
"position_m": [
0.23106354953734118,
-0.0367713958468442,
0.30595079257610286
],
"position_mm": [
231.06354953734117,
-36.7713958468442,
305.95079257610286
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 246,
"position_m": [
0.32103115932158455,
-0.045120380841119606,
0.2974342388767264
],
"position_mm": [
321.03115932158454,
-45.120380841119605,
297.4342388767264
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 247,
"position_m": [
0.28288814687891756,
-0.04126777483996936,
0.3020280723585196
],
"position_mm": [
282.88814687891755,
-41.267774839969356,
302.0280723585196
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
}
]
}