Files
appRobotRender/data/evaluations/Scene9/aruco_positions_initial.json
2026-06-01 22:09:49 +02:00

962 lines
18 KiB
JSON

{
"schema_version": "1.2",
"stage": "initial_triangulation",
"created_utc": "2026-06-01T19:31:57Z",
"summary": {
"num_cameras": 7,
"num_markers": 50,
"num_constraints": 94
},
"markers": [
{
"marker_id": 41,
"position_m": [
0.24508135157391928,
-0.11232591112608636,
0.34342667804678023
],
"position_mm": [
245.08135157391928,
-112.32591112608637,
343.42667804678024
],
"link": "FingerA",
"normal": [
0.0,
-0.9375276894468237,
0.34791066600565723
]
},
{
"marker_id": 42,
"position_m": [
0.21430931576090076,
-0.07616312526071134,
0.33980171378590585
],
"position_mm": [
214.30931576090077,
-76.16312526071134,
339.80171378590586
],
"link": "FingerA",
"normal": [
0.8830215713766957,
-0.3090575499818435,
0.3532086285506783
]
},
{
"marker_id": 43,
"position_m": [
0.2696634932018715,
-0.07571485589188987,
0.33939216884622103
],
"position_mm": [
269.6634932018715,
-75.71485589188987,
339.392168846221
],
"link": "FingerB",
"normal": [
0.4224220616915755,
0.0,
0.9063992507699015
]
},
{
"marker_id": 46,
"position_m": [
0.5364845504040673,
0.18531063375562734,
-0.027239884709648044
],
"position_mm": [
536.4845504040672,
185.31063375562735,
-27.239884709648045
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 47,
"position_m": [
0.3441242177009013,
-0.286459595655613,
-0.027345808426920092
],
"position_mm": [
344.1242177009013,
-286.45959565561304,
-27.345808426920094
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 51,
"position_m": [
0.1677936381139535,
-0.1718839082311063,
-0.027497919750663846
],
"position_mm": [
167.7936381139535,
-171.8839082311063,
-27.497919750663847
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 53,
"position_m": [
0.4862157170906421,
0.2121441274214691,
-0.02729686474456468
],
"position_mm": [
486.2157170906421,
212.1441274214691,
-27.296864744564683
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 54,
"position_m": [
0.3423908470780666,
-0.3305953564176126,
-0.02717274743464723
],
"position_mm": [
342.3908470780666,
-330.5953564176126,
-27.172747434647228
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 55,
"position_m": [
0.28378740271743375,
-0.2626737494910894,
-0.0272761958130259
],
"position_mm": [
283.78740271743374,
-262.6737494910894,
-27.2761958130259
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 56,
"position_m": [
0.49861837017021793,
0.16873978211442184,
-0.02729413543281814
],
"position_mm": [
498.61837017021793,
168.73978211442184,
-27.29413543281814
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 58,
"position_m": [
0.049992034351096,
-0.21802002242294446,
-0.027331375076396436
],
"position_mm": [
49.992034351095995,
-218.02002242294446,
-27.331375076396437
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 60,
"position_m": [
0.4343209203433637,
0.28371174203105487,
-0.027230569914711598
],
"position_mm": [
434.32092034336375,
283.7117420310549,
-27.230569914711598
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 61,
"position_m": [
-0.022452551477528393,
0.3361946989642362,
-0.02743192831152534
],
"position_mm": [
-22.45255147752839,
336.1946989642362,
-27.43192831152534
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 62,
"position_m": [
0.4047449667325931,
-0.17500419197464906,
-0.02744185456267194
],
"position_mm": [
404.74496673259307,
-175.00419197464905,
-27.44185456267194
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 63,
"position_m": [
0.7773473009944609,
-0.2362248071664728,
-0.027633251304756877
],
"position_mm": [
777.347300994461,
-236.2248071664728,
-27.633251304756875
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 64,
"position_m": [
-0.021402054083101217,
-0.1882641305731032,
-0.027119272711212356
],
"position_mm": [
-21.402054083101216,
-188.26413057310322,
-27.119272711212357
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 66,
"position_m": [
0.20991907469614735,
-0.3633427719151123,
-0.02733851081376765
],
"position_mm": [
209.91907469614733,
-363.3427719151123,
-27.338510813767652
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 68,
"position_m": [
0.573726591272397,
0.17051864944018702,
-0.027349659378667634
],
"position_mm": [
573.726591272397,
170.51864944018703,
-27.349659378667635
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 69,
"position_m": [
0.007492118411639793,
-0.2809593176635627,
-0.02692555021938751
],
"position_mm": [
7.492118411639793,
-280.9593176635627,
-26.92555021938751
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 72,
"position_m": [
0.4408865046913939,
0.19416294676719323,
-0.02708658037943657
],
"position_mm": [
440.8865046913939,
194.16294676719323,
-27.086580379436572
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 75,
"position_m": [
-0.025775667331803028,
0.19438857706972076,
-0.027173586983243257
],
"position_mm": [
-25.775667331803028,
194.38857706972075,
-27.173586983243258
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 79,
"position_m": [
0.31248142181437655,
-0.15859584863148793,
-0.027560751247332524
],
"position_mm": [
312.4814218143766,
-158.59584863148794,
-27.560751247332522
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 83,
"position_m": [
0.04420173613508344,
0.33930628502689364,
-0.027296841948369805
],
"position_mm": [
44.20173613508344,
339.30628502689365,
-27.296841948369806
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 84,
"position_m": [
0.4073092597696658,
0.25838085984145837,
-0.027193890561743244
],
"position_mm": [
407.3092597696658,
258.38085984145835,
-27.193890561743245
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 85,
"position_m": [
0.5043828015609882,
-0.3126174138812884,
-0.027493904860351245
],
"position_mm": [
504.38280156098824,
-312.61741388128837,
-27.493904860351243
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 86,
"position_m": [
0.36336739596132156,
0.2923689513746589,
-0.027383006005960987
],
"position_mm": [
363.36739596132156,
292.3689513746589,
-27.383006005960986
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 92,
"position_m": [
0.6453116065123552,
-0.1851153504906937,
-0.027169191417652835
],
"position_mm": [
645.3116065123552,
-185.1153504906937,
-27.169191417652836
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 95,
"position_m": [
0.18590923404006957,
-0.2741838301793914,
-0.027281479168935995
],
"position_mm": [
185.90923404006958,
-274.1838301793914,
-27.281479168935995
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 96,
"position_m": [
0.3697867242151131,
-0.18648546362169124,
-0.027286562667656084
],
"position_mm": [
369.7867242151131,
-186.48546362169125,
-27.286562667656085
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 97,
"position_m": [
0.30419184567286495,
-0.3597499325818186,
-0.027142727077764658
],
"position_mm": [
304.19184567286493,
-359.7499325818186,
-27.142727077764658
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 102,
"position_m": [
0.6498436334268026,
-0.22279803233743772,
-0.02779710610828765
],
"position_mm": [
649.8436334268026,
-222.79803233743772,
-27.79710610828765
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 103,
"position_m": [
0.10597365443295802,
-0.18768000909201207,
-0.02742576888980229
],
"position_mm": [
105.97365443295801,
-187.68000909201209,
-27.425768889802292
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 105,
"position_m": [
0.5246524064155396,
-0.2664798474801058,
-0.02708473650432214
],
"position_mm": [
524.6524064155395,
-266.4798474801058,
-27.08473650432214
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 113,
"position_m": [
0.27048979521184496,
-0.16088665679251288,
0.2351699452099661
],
"position_mm": [
270.489795211845,
-160.88665679251287,
235.1699452099661
],
"link": "Arm2",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 124,
"position_m": [
0.29417718415762395,
-0.11947728832983648,
0.2701039474125579
],
"position_mm": [
294.17718415762397,
-119.47728832983648,
270.1039474125579
],
"link": "Arm2",
"normal": [
-1.0,
0.0,
0.0
]
},
{
"marker_id": 198,
"position_m": [
0.1698867846599622,
-0.05308081949239963,
0.09041514216663867
],
"position_mm": [
169.88678465996222,
-53.08081949239963,
90.41514216663866
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 205,
"position_m": [
0.7500680047490862,
-0.08998091230421276,
0.0003744489645968342
],
"position_mm": [
750.0680047490862,
-89.98091230421277,
0.3744489645968342
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 206,
"position_m": [
0.6498599890724867,
-0.009730036262060388,
0.00022523269659659889
],
"position_mm": [
649.8599890724867,
-9.730036262060388,
0.2252326965965989
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 207,
"position_m": [
0.7506493962383651,
-0.009567046215724238,
-0.00030902563563175826
],
"position_mm": [
750.6493962383652,
-9.567046215724238,
-0.3090256356317583
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 208,
"position_m": [
0.350276081195757,
-0.08985786712417722,
8.046374613325354e-05
],
"position_mm": [
350.276081195757,
-89.85786712417722,
0.08046374613325354
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 210,
"position_m": [
0.020048787427287027,
-0.02029051604768086,
0.0004415202668601887
],
"position_mm": [
20.048787427287028,
-20.29051604768086,
0.4415202668601887
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 211,
"position_m": [
0.2499746585287364,
-0.010353325224856207,
0.0003139156591563069
],
"position_mm": [
249.9746585287364,
-10.353325224856206,
0.3139156591563069
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 214,
"position_m": [
0.34987310901904434,
-0.010290729367911212,
0.000662420657481602
],
"position_mm": [
349.87310901904436,
-10.290729367911212,
0.662420657481602
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 217,
"position_m": [
0.6501088510080115,
-0.0896978604204764,
0.0001465738444786368
],
"position_mm": [
650.1088510080115,
-89.69786042047639,
0.1465738444786368
],
"link": "Board",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 229,
"position_m": [
0.17020528237897048,
-0.14305826850022568,
0.08727924658762641
],
"position_mm": [
170.20528237897048,
-143.0582685002257,
87.27924658762642
],
"link": "Arm1",
"normal": [
0.0,
0.0,
1.0
]
},
{
"marker_id": 232,
"position_m": [
0.2595649819266241,
-0.16803477917879237,
0.027920184374489978
],
"position_mm": [
259.56498192662406,
-168.03477917879238,
27.920184374489978
],
"link": "Ellbow",
"normal": [
0.0,
0.7071067811865475,
-0.7071067811865475
]
},
{
"marker_id": 243,
"position_m": [
0.17017609343894588,
-0.1771507908834886,
0.05068926989907142
],
"position_mm": [
170.17609343894588,
-177.15079088348858,
50.68926989907142
],
"link": "Arm1",
"normal": [
0.0,
-1.0,
0.0
]
},
{
"marker_id": 244,
"position_m": [
0.29536344600735065,
-0.14186240169993072,
0.051831403158715796
],
"position_mm": [
295.36344600735066,
-141.86240169993073,
51.831403158715794
],
"link": "Ellbow",
"normal": [
1.0,
0.0,
0.0
]
},
{
"marker_id": 245,
"position_m": [
0.2598631600742688,
-0.17725689739670814,
0.053701485752922634
],
"position_mm": [
259.8631600742688,
-177.25689739670813,
53.701485752922636
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
},
{
"marker_id": 248,
"position_m": [
0.22260346174403114,
-0.1769806808323715,
0.053486364750632245
],
"position_mm": [
222.60346174403114,
-176.98068083237152,
53.48636475063225
],
"link": "Ellbow",
"normal": [
0.0,
0.0,
-1.0
]
}
]
}