Files
appRobotRender/data/camera_study/Scene10/k4_bdeg/aruco_positions_optimized.json

617 lines
12 KiB
JSON

{
"schema_version": "1.2",
"created_utc": "2026-06-02T21:19:35Z",
"summary": {
"num_cameras": 4,
"num_markers": 28,
"num_constraints": 94
},
"cameras": [
{
"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
]
},
{
"camera_id": "e",
"position_m": [
1.2027035370578547,
-0.9093898126663549,
0.4081419845112901
],
"position_mm": [
1202.7035370578546,
-909.3898126663548,
408.1419845112901
],
"direction": [
-0.7457762360572815,
0.6094573736190796,
-0.26903441548347473
]
},
{
"camera_id": "g",
"position_m": [
-0.2061597004485399,
0.2066972923859535,
1.4011416040110074
],
"position_mm": [
-206.1597004485399,
206.6972923859535,
1401.1416040110073
],
"direction": [
0.2996947467327118,
-0.3001376986503601,
-0.9055939316749573
]
}
],
"markers": [
{
"marker_id": 40,
"position_m": [
0.3069097344321857,
-0.2020177429112386,
0.026139026258647082
],
"position_mm": [
306.9097344321857,
-202.0177429112386,
26.139026258647082
],
"link": "FingerA",
"normal": [
-0.4224220616915755,
0.0,
-0.9063992507699015
]
},
{
"marker_id": 45,
"position_m": [
0.35440281675136615,
-0.19916592177289724,
0.02072055469714401
],
"position_mm": [
354.4028167513661,
-199.16592177289724,
20.72055469714401
],
"link": "FingerB",
"normal": [
-0.8830215713766957,
-0.3090575499818435,
-0.3532086285506783
]
},
{
"marker_id": 47,
"position_m": [
0.34429663383059583,
-0.28601715524747046,
-0.03057390241790844
],
"position_mm": [
344.29663383059585,
-286.01715524747044,
-30.57390241790844
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 48,
"position_m": [
0.6879353584362827,
-0.31898969103425556,
-0.027252823568572438
],
"position_mm": [
687.9353584362827,
-318.98969103425554,
-27.25282356857244
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.16709424525842823,
-0.17418870557883986,
-0.026849462504423535
],
"position_mm": [
167.09424525842823,
-174.18870557883986,
-26.849462504423535
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.48697224655850846,
0.21379586950852308,
-0.025613930905370813
],
"position_mm": [
486.97224655850846,
213.79586950852308,
-25.613930905370815
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.33995939143806897,
-0.3297372533575364,
-0.02683481164676101
],
"position_mm": [
339.95939143806896,
-329.7372533575364,
-26.83481164676101
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.284297118950399,
-0.26103669574258204,
-0.02717153782585586
],
"position_mm": [
284.297118950399,
-261.036695742582,
-27.171537825855857
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 57,
"position_m": [
0.6029435209786956,
-0.363845082430133,
-0.028431587721633494
],
"position_mm": [
602.9435209786957,
-363.845082430133,
-28.431587721633495
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 59,
"position_m": [
0.6247336602682131,
-0.2782545847412876,
-0.023873188309646208
],
"position_mm": [
624.733660268213,
-278.2545847412876,
-23.873188309646206
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.77559228459724,
-0.23603560309325475,
-0.02768094161413442
],
"position_mm": [
775.59228459724,
-236.03560309325474,
-27.680941614134422
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.019109571013523254,
-0.18958152801823017,
-0.027163617503021063
],
"position_mm": [
-19.109571013523254,
-189.58152801823016,
-27.16361750302106
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.005942588834885095,
-0.27766593705465226,
-0.02714208418319
],
"position_mm": [
5.942588834885095,
-277.66593705465226,
-27.14208418319
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 71,
"position_m": [
0.7507716494074312,
-0.28541401729738647,
-0.026780278055040553
],
"position_mm": [
750.7716494074313,
-285.41401729738647,
-26.780278055040554
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.4425077325244921,
0.19423558363275215,
-0.028760050523964582
],
"position_mm": [
442.5077325244921,
194.23558363275214,
-28.760050523964583
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5066743379002165,
-0.3135574558880696,
-0.027863065164165497
],
"position_mm": [
506.6743379002165,
-313.5574558880696,
-27.863065164165498
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6468315397121702,
-0.18614320515992455,
-0.028084901475142143
],
"position_mm": [
646.8315397121702,
-186.14320515992455,
-28.084901475142143
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18641729512041816,
-0.2759766594702122,
-0.027550477697265586
],
"position_mm": [
186.41729512041815,
-275.9766594702122,
-27.550477697265585
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6517759154079943,
-0.22425232236709827,
-0.027315107872734373
],
"position_mm": [
651.7759154079943,
-224.25232236709826,
-27.315107872734373
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10532589847776773,
-0.19104512895951184,
-0.026868535550674987
],
"position_mm": [
105.32589847776772,
-191.04512895951183,
-26.868535550674988
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.3107227562195912,
-0.1542853317500768,
0.156704088326644
],
"position_mm": [
310.72275621959125,
-154.2853317500768,
156.704088326644
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 205,
"position_m": [
0.7524334187888961,
-0.09025695811125631,
0.00042612255622703695
],
"position_mm": [
752.4334187888961,
-90.25695811125631,
0.42612255622703693
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 215,
"position_m": [
0.2505007693008238,
-0.08866396246646327,
-7.82695224253269e-05
],
"position_mm": [
250.50076930082383,
-88.66396246646327,
-0.07826952242532689
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 218,
"position_m": [
0.3539950825328638,
-0.1005243848984472,
0.20056295463225698
],
"position_mm": [
353.9950825328638,
-100.5243848984472,
200.56295463225698
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 219,
"position_m": [
0.3574426443080694,
-0.17075931109956805,
0.1171495824346889
],
"position_mm": [
357.44264430806936,
-170.75931109956804,
117.1495824346889
],
"link": "Arm2",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 243,
"position_m": [
0.23059386539056853,
-0.0362681147227638,
0.3053839326027922
],
"position_mm": [
230.59386539056854,
-36.2681147227638,
305.3839326027922
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 246,
"position_m": [
0.3199500393733643,
-0.04355069627698564,
0.29685618671327557
],
"position_mm": [
319.9500393733643,
-43.55069627698564,
296.8561867132756
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 247,
"position_m": [
0.2828441044128055,
-0.04098291000242246,
0.3016321649929736
],
"position_mm": [
282.8441044128055,
-40.982910002422464,
301.63216499297357
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
1.0
]
}
]
}