2002 lines
43 KiB
JSON
2002 lines
43 KiB
JSON
{
|
|
"schema_version": "1.1",
|
|
"stage": "corner_marker_poses",
|
|
"created_utc": "2026-06-25T17:25:15Z",
|
|
"summary": {
|
|
"num_cameras": 3,
|
|
"num_markers": 43
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "cam0",
|
|
"position_m": [
|
|
0.3353340810233093,
|
|
-0.8856564828689467,
|
|
0.46837261673851105
|
|
],
|
|
"position_mm": [
|
|
335.3340810233093,
|
|
-885.6564828689467,
|
|
468.37261673851106
|
|
],
|
|
"direction": [
|
|
-0.0658801719546318,
|
|
0.8924656510353088,
|
|
-0.4462788999080658
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "cam1",
|
|
"position_m": [
|
|
0.29680883948912407,
|
|
-0.46281573382217234,
|
|
0.780610463027648
|
|
],
|
|
"position_mm": [
|
|
296.80883948912407,
|
|
-462.8157338221723,
|
|
780.610463027648
|
|
],
|
|
"direction": [
|
|
0.09503374248743057,
|
|
0.43309515714645386,
|
|
-0.8963242769241333
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "cam2",
|
|
"position_m": [
|
|
0.7129078380464278,
|
|
-0.665532940145086,
|
|
0.7243147371422545
|
|
],
|
|
"position_mm": [
|
|
712.9078380464277,
|
|
-665.5329401450861,
|
|
724.3147371422544
|
|
],
|
|
"direction": [
|
|
-0.42887139320373535,
|
|
0.5944520831108093,
|
|
-0.6802176833152771
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 0,
|
|
"link": "unknown",
|
|
"set": "",
|
|
"position_m": [
|
|
0.5052044950810802,
|
|
-0.10088315228774337,
|
|
-0.007159526284560855
|
|
],
|
|
"position_mm": [
|
|
505.2044950810802,
|
|
-100.88315228774337,
|
|
-7.159526284560855
|
|
],
|
|
"normal": [
|
|
0.02188744500006233,
|
|
0.03623762599735092,
|
|
0.9991034852373629
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.4931210221704284,
|
|
-0.08902251256112026,
|
|
-0.007210591171902941
|
|
],
|
|
[
|
|
0.5176345599088277,
|
|
-0.0887270038126701,
|
|
-0.007989169054565416
|
|
],
|
|
[
|
|
0.5172123894076679,
|
|
-0.1125274545805471,
|
|
-0.006883019634597008
|
|
],
|
|
[
|
|
0.4928500088373972,
|
|
-0.11325563819663605,
|
|
-0.0065553252771780555
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 24.24413054487405,
|
|
"weight": 0.4875
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.5378264416607417,
|
|
0.18551013238997283,
|
|
-0.027879291369311943
|
|
],
|
|
"position_mm": [
|
|
537.8264416607417,
|
|
185.51013238997282,
|
|
-27.879291369311943
|
|
],
|
|
"normal": [
|
|
-0.08568396374076537,
|
|
-0.05353565205905043,
|
|
0.9948830043358282
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.5263755699068333,
|
|
0.1749085675608892,
|
|
-0.02961055882761357
|
|
],
|
|
[
|
|
0.5253878447940988,
|
|
0.196777444639459,
|
|
-0.02817115704407417
|
|
],
|
|
[
|
|
0.549392058081372,
|
|
0.19660090198942143,
|
|
-0.026452282542808018
|
|
],
|
|
[
|
|
0.5501502938606626,
|
|
0.17375361537012163,
|
|
-0.027283167062752012
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.199000183212853,
|
|
"weight": 0.3447
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.34317984651688416,
|
|
-0.2862937692049697,
|
|
-0.027164138591258966
|
|
],
|
|
"position_mm": [
|
|
343.17984651688414,
|
|
-286.2937692049697,
|
|
-27.164138591258965
|
|
],
|
|
"normal": [
|
|
-0.031231696951280415,
|
|
0.010041197506571174,
|
|
0.9994617328633335
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.33078200750401754,
|
|
-0.29793645872522256,
|
|
-0.027131992501738318
|
|
],
|
|
[
|
|
0.3314772794701924,
|
|
-0.2736286068082837,
|
|
-0.02796698263122479
|
|
],
|
|
[
|
|
0.3552683232181285,
|
|
-0.2750549172045844,
|
|
-0.02657837934076975
|
|
],
|
|
[
|
|
0.35519177587519846,
|
|
-0.2985550940817881,
|
|
-0.026979199891303013
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 24.03202640475121,
|
|
"weight": 0.7554
|
|
},
|
|
{
|
|
"marker_id": 50,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.5740660271196084,
|
|
0.21037826809336746,
|
|
-0.026225039936072905
|
|
],
|
|
"position_mm": [
|
|
574.0660271196084,
|
|
210.37826809336747,
|
|
-26.225039936072907
|
|
],
|
|
"normal": [
|
|
-0.0007334318566108022,
|
|
0.032086543086296826,
|
|
0.9994848252127108
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.5619005480316933,
|
|
0.198041826066112,
|
|
-0.026260497260393735
|
|
],
|
|
[
|
|
0.5623758422431261,
|
|
0.2224905011778162,
|
|
-0.026203326026318138
|
|
],
|
|
[
|
|
0.5863237331921071,
|
|
0.22247824813977254,
|
|
-0.027030993098368806
|
|
],
|
|
[
|
|
0.5856639850115073,
|
|
0.19850249698976904,
|
|
-0.025405343359210953
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 24.05967250453145,
|
|
"weight": 0.2393
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.1667282238769894,
|
|
-0.1710758283732236,
|
|
-0.027093339422642557
|
|
],
|
|
"position_mm": [
|
|
166.7282238769894,
|
|
-171.0758283732236,
|
|
-27.093339422642558
|
|
],
|
|
"normal": [
|
|
-0.03385672724685736,
|
|
0.011723476487960238,
|
|
0.9993579349358108
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.1547150712521942,
|
|
-0.18328068811002252,
|
|
-0.027354083981721504
|
|
],
|
|
[
|
|
0.15466013747161345,
|
|
-0.15879627866383095,
|
|
-0.027649361987502053
|
|
],
|
|
[
|
|
0.17852599816092002,
|
|
-0.15884357820740305,
|
|
-0.02683402947872019
|
|
],
|
|
[
|
|
0.17901168862322994,
|
|
-0.18338276851163787,
|
|
-0.026535882242626468
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 24.305623436046485,
|
|
"weight": 0.6382
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.48736626671852423,
|
|
0.21231679031089312,
|
|
-0.02738275997348891
|
|
],
|
|
"position_mm": [
|
|
487.36626671852423,
|
|
212.3167903108931,
|
|
-27.38275997348891
|
|
],
|
|
"normal": [
|
|
-0.0736101020288379,
|
|
-0.01564065900121903,
|
|
0.9971644411356192
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.4757190794485293,
|
|
0.2014528406166193,
|
|
-0.028389058690037657
|
|
],
|
|
[
|
|
0.47499780770641314,
|
|
0.2247388046077821,
|
|
-0.028124575264799806
|
|
],
|
|
[
|
|
0.4991526780785909,
|
|
0.22281249506571896,
|
|
-0.026323687792599713
|
|
],
|
|
[
|
|
0.49959550164056354,
|
|
0.2002630209534522,
|
|
-0.026693718146518455
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.52999142170282,
|
|
"weight": 0.3227
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.34107216634237836,
|
|
-0.3303012041396062,
|
|
-0.02722030671584772
|
|
],
|
|
"position_mm": [
|
|
341.07216634237835,
|
|
-330.30120413960617,
|
|
-27.22030671584772
|
|
],
|
|
"normal": [
|
|
-0.033618003183349426,
|
|
0.04016720801875606,
|
|
0.9986272704377457
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.3289755261892367,
|
|
-0.3420749965428816,
|
|
-0.027461629344782648
|
|
],
|
|
[
|
|
0.3291722918761967,
|
|
-0.31765655212894395,
|
|
-0.027823591403128747
|
|
],
|
|
[
|
|
0.35326167338584835,
|
|
-0.31829062837412114,
|
|
-0.02759247270381654
|
|
],
|
|
[
|
|
0.3528791739182314,
|
|
-0.34318263951247785,
|
|
-0.02600353341166295
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 24.360009517128933,
|
|
"weight": 0.5618
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"link": "Arm1",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.2826453370101749,
|
|
-0.26174958078036853,
|
|
-0.026645233099692963
|
|
],
|
|
"position_mm": [
|
|
282.6453370101749,
|
|
-261.74958078036855,
|
|
-26.645233099692962
|
|
],
|
|
"normal": [
|
|
-0.05273705322086408,
|
|
0.016960957525328557,
|
|
0.9984643855127753
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.27060778008327213,
|
|
-0.2737407117657374,
|
|
-0.027397816442937227
|
|
],
|
|
[
|
|
0.27057276639875916,
|
|
-0.2491794640591713,
|
|
-0.027173708683332326
|
|
],
|
|
[
|
|
0.29463386900565197,
|
|
-0.24984757884801367,
|
|
-0.02653901999282952
|
|
],
|
|
[
|
|
0.29476693255301645,
|
|
-0.27423056844855176,
|
|
-0.025470387279672782
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 24.32216569858272,
|
|
"weight": 0.7263
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.0486200712606465,
|
|
-0.21650167659710656,
|
|
-0.027861961281782838
|
|
],
|
|
"position_mm": [
|
|
48.6200712606465,
|
|
-216.50167659710655,
|
|
-27.861961281782836
|
|
],
|
|
"normal": [
|
|
-0.0016154290322130593,
|
|
-0.009401360428406058,
|
|
0.9999545013705059
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.036545569868233714,
|
|
-0.22867236388887668,
|
|
-0.027848431959453253
|
|
],
|
|
[
|
|
0.03644322513347829,
|
|
-0.20407942519015682,
|
|
-0.02791315990746717
|
|
],
|
|
[
|
|
0.06062762406037025,
|
|
-0.2047121261474928,
|
|
-0.02757869793040356
|
|
],
|
|
[
|
|
0.06086386598050376,
|
|
-0.22854279116190007,
|
|
-0.02810755532980736
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 24.23648685677286,
|
|
"weight": 0.4199
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.4041518149215487,
|
|
-0.17491948394094883,
|
|
-0.0269608631008516
|
|
],
|
|
"position_mm": [
|
|
404.15181492154875,
|
|
-174.91948394094882,
|
|
-26.9608631008516
|
|
],
|
|
"normal": [
|
|
0.01613817571808002,
|
|
-0.015024920232006186,
|
|
0.999756875973611
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.3920737422133541,
|
|
-0.18677215499002264,
|
|
-0.027036023221026412
|
|
],
|
|
[
|
|
0.3919926434564965,
|
|
-0.16292347334237547,
|
|
-0.02649309195371941
|
|
],
|
|
[
|
|
0.41632975851701276,
|
|
-0.1632125614407277,
|
|
-0.02707386641859979
|
|
],
|
|
[
|
|
0.41621111549933154,
|
|
-0.1867697459906695,
|
|
-0.027240470810060778
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.974267674074415,
|
|
"weight": 0.6083
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
-0.02258649631128378,
|
|
-0.18667977698072646,
|
|
-0.026966425537488896
|
|
],
|
|
"position_mm": [
|
|
-22.58649631128378,
|
|
-186.67977698072647,
|
|
-26.966425537488895
|
|
],
|
|
"normal": [
|
|
-0.0064752537296278645,
|
|
0.011327986548649915,
|
|
0.9999148702814108
|
|
],
|
|
"corners_m": [
|
|
[
|
|
-0.03439927572660453,
|
|
-0.1990124815609223,
|
|
-0.026428394085164827
|
|
],
|
|
[
|
|
-0.03486010726531316,
|
|
-0.173155504999449,
|
|
-0.02763693239629834
|
|
],
|
|
[
|
|
-0.009893771966548847,
|
|
-0.1759502130115784,
|
|
-0.026504850564630176
|
|
],
|
|
[
|
|
-0.011192830286668586,
|
|
-0.19860090835095617,
|
|
-0.027295525103862232
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 24.241261095246575,
|
|
"weight": 0.3785
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.20851422290342447,
|
|
-0.36321289901385745,
|
|
-0.027644769038368936
|
|
],
|
|
"position_mm": [
|
|
208.51422290342447,
|
|
-363.21289901385745,
|
|
-27.644769038368935
|
|
],
|
|
"normal": [
|
|
-0.049605765588381076,
|
|
0.03216066169458332,
|
|
0.9982509503425264
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.1958934982893338,
|
|
-0.3745036677271824,
|
|
-0.02842170503543501
|
|
],
|
|
[
|
|
0.1967026359183424,
|
|
-0.35091747750483704,
|
|
-0.02809451595895762
|
|
],
|
|
[
|
|
0.2207218997661436,
|
|
-0.3513022231279206,
|
|
-0.027928500945369965
|
|
],
|
|
[
|
|
0.22073885763987816,
|
|
-0.37612822769548987,
|
|
-0.026134354213713146
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 24.379817245584718,
|
|
"weight": 0.434
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.5743878627677407,
|
|
0.1690555009865223,
|
|
-0.026110414970654056
|
|
],
|
|
"position_mm": [
|
|
574.3878627677407,
|
|
169.0555009865223,
|
|
-26.110414970654055
|
|
],
|
|
"normal": [
|
|
-0.0004423706340999529,
|
|
0.05167449160127389,
|
|
0.9986638830086788
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.5623261370914318,
|
|
0.15646189643939457,
|
|
-0.025877938606102623
|
|
],
|
|
[
|
|
0.5622386851446903,
|
|
0.1804941935809788,
|
|
-0.026313717512898946
|
|
],
|
|
[
|
|
0.5870770086431448,
|
|
0.18232982079332896,
|
|
-0.027163607228015058
|
|
],
|
|
[
|
|
0.5859096201916958,
|
|
0.15693609313238688,
|
|
-0.025086396535599607
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 24.515941202978375,
|
|
"weight": 0.2734
|
|
},
|
|
{
|
|
"marker_id": 73,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.2219673828728824,
|
|
0.33721762949995815,
|
|
-0.030290964230759415
|
|
],
|
|
"position_mm": [
|
|
221.96738287288238,
|
|
337.21762949995815,
|
|
-30.290964230759414
|
|
],
|
|
"normal": [
|
|
-0.05171501701966444,
|
|
0.14619892227790302,
|
|
0.9879025418225401
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.2099520001525355,
|
|
0.32529642222307453,
|
|
-0.02986365874714666
|
|
],
|
|
[
|
|
0.21016863328744437,
|
|
0.35134351983698553,
|
|
-0.03227248290068654
|
|
],
|
|
[
|
|
0.23370636878440182,
|
|
0.3515916258153055,
|
|
-0.03240977794180018
|
|
],
|
|
[
|
|
0.23404252926714783,
|
|
0.32063895012446697,
|
|
-0.02661793733340428
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 26.485158811151774,
|
|
"weight": 0.1671
|
|
},
|
|
{
|
|
"marker_id": 76,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.686208289306693,
|
|
0.16501625935789133,
|
|
-0.027128806930602364
|
|
],
|
|
"position_mm": [
|
|
686.208289306693,
|
|
165.01625935789133,
|
|
-27.128806930602366
|
|
],
|
|
"normal": [
|
|
-0.045478091343535296,
|
|
-0.03113769096128405,
|
|
0.9984799384110572
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.6742853696315547,
|
|
0.15349808896394945,
|
|
-0.02787408437989165
|
|
],
|
|
[
|
|
0.6741894125974176,
|
|
0.17675356164091763,
|
|
-0.027468507107200484
|
|
],
|
|
[
|
|
0.6980249440231349,
|
|
0.1758366833126496,
|
|
-0.026084926594691474
|
|
],
|
|
[
|
|
0.6983334309746645,
|
|
0.15397670351404869,
|
|
-0.027087709640625842
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.27581921989986,
|
|
"weight": 0.3625
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.31150669317326424,
|
|
-0.15794671443086494,
|
|
-0.027044415501141818
|
|
],
|
|
"position_mm": [
|
|
311.50669317326424,
|
|
-157.94671443086494,
|
|
-27.044415501141817
|
|
],
|
|
"normal": [
|
|
0.0502328186860131,
|
|
-0.04898872129715993,
|
|
0.9975353472997973
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.29955065837151285,
|
|
-0.16986513800699882,
|
|
-0.027497571974923245
|
|
],
|
|
[
|
|
0.2996622031696467,
|
|
-0.1478686907804324,
|
|
-0.025482520169204236
|
|
],
|
|
[
|
|
0.3234029566012382,
|
|
-0.1452779894777899,
|
|
-0.02746348600166971
|
|
],
|
|
[
|
|
0.32341095455065916,
|
|
-0.1687750394582387,
|
|
-0.02773408385877007
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.359376815179566,
|
|
"weight": 0.4199
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.21936556203940893,
|
|
0.30045717438883596,
|
|
-0.02979075821718188
|
|
],
|
|
"position_mm": [
|
|
219.36556203940893,
|
|
300.45717438883594,
|
|
-29.79075821718188
|
|
],
|
|
"normal": [
|
|
0.00751346876857735,
|
|
0.12320459480667215,
|
|
0.9923528483385269
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.20811679754844384,
|
|
0.2873804354592832,
|
|
-0.02783096103711549
|
|
],
|
|
[
|
|
0.2072783123834849,
|
|
0.3147267689582892,
|
|
-0.031710673693245435
|
|
],
|
|
[
|
|
0.23114889626386448,
|
|
0.3128732966523306,
|
|
-0.03116854238480876
|
|
],
|
|
[
|
|
0.2309182419618425,
|
|
0.28684819648544074,
|
|
-0.028452855753557837
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 25.141256482077612,
|
|
"weight": 0.2806
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.5039058359321804,
|
|
-0.31350530327354253,
|
|
-0.027058596575046084
|
|
],
|
|
"position_mm": [
|
|
503.9058359321804,
|
|
-313.50530327354255,
|
|
-27.058596575046085
|
|
],
|
|
"normal": [
|
|
0.005146604003328235,
|
|
-0.008664429096419403,
|
|
0.9999492187784669
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.49163227595981807,
|
|
-0.32556424644931903,
|
|
-0.027218601620592996
|
|
],
|
|
[
|
|
0.4918106184971616,
|
|
-0.3017381758701238,
|
|
-0.026773940193895097
|
|
],
|
|
[
|
|
0.5159991489357265,
|
|
-0.30145166269155355,
|
|
-0.02713689184423611
|
|
],
|
|
[
|
|
0.5161813003360154,
|
|
-0.3252671280831739,
|
|
-0.027104952641460133
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 24.097776402534436,
|
|
"weight": 0.5983
|
|
},
|
|
{
|
|
"marker_id": 90,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.6449321855731515,
|
|
0.31619504062885767,
|
|
-0.028158497228115746
|
|
],
|
|
"position_mm": [
|
|
644.9321855731515,
|
|
316.19504062885767,
|
|
-28.158497228115746
|
|
],
|
|
"normal": [
|
|
-0.023838539701572174,
|
|
-0.04568594842532903,
|
|
0.9986713764504191
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.6335210704367185,
|
|
0.3054279430148531,
|
|
-0.02959953659550744
|
|
],
|
|
[
|
|
0.6326985979465948,
|
|
0.3274870536979496,
|
|
-0.027270126329104766
|
|
],
|
|
[
|
|
0.6565786612184072,
|
|
0.32776919549044503,
|
|
-0.0279721253408548
|
|
],
|
|
[
|
|
0.6569304126908855,
|
|
0.30409597031218294,
|
|
-0.027792200646995977
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.320582329391257,
|
|
"weight": 0.2879
|
|
},
|
|
{
|
|
"marker_id": 91,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.7254858569235172,
|
|
0.32785139270449304,
|
|
-0.027507052309440182
|
|
],
|
|
"position_mm": [
|
|
725.4858569235172,
|
|
327.85139270449304,
|
|
-27.507052309440184
|
|
],
|
|
"normal": [
|
|
-0.02707754916964226,
|
|
0.036937602925204094,
|
|
0.9989506593526558
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.712981887620821,
|
|
0.31507984187567245,
|
|
-0.02696637717523818
|
|
],
|
|
[
|
|
0.7145350271726675,
|
|
0.34079524585325555,
|
|
-0.028720159425698576
|
|
],
|
|
[
|
|
0.7371304273296406,
|
|
0.3397733353476387,
|
|
-0.027163294474724535
|
|
],
|
|
[
|
|
0.7372960855709393,
|
|
0.3157571477414055,
|
|
-0.027178378162099438
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 24.208805399117534,
|
|
"weight": 0.2091
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.6447019342433877,
|
|
-0.18693491730925765,
|
|
-0.025550505282617524
|
|
],
|
|
"position_mm": [
|
|
644.7019342433878,
|
|
-186.93491730925766,
|
|
-25.550505282617525
|
|
],
|
|
"normal": [
|
|
-0.05882929238544899,
|
|
-0.018501496601004083,
|
|
0.9980965930113931
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.6332131584444548,
|
|
-0.1987205238441994,
|
|
-0.026827893418331167
|
|
],
|
|
[
|
|
0.6326595257710306,
|
|
-0.17483124685681742,
|
|
-0.025655272067663493
|
|
],
|
|
[
|
|
0.6562716632314788,
|
|
-0.175263633568773,
|
|
-0.025037015685470912
|
|
],
|
|
[
|
|
0.6566633895265865,
|
|
-0.19892426496724086,
|
|
-0.02468183995900453
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.69106961353562,
|
|
"weight": 0.5325
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.1847691901969211,
|
|
-0.273260218116302,
|
|
-0.027609211131850237
|
|
],
|
|
"position_mm": [
|
|
184.7691901969211,
|
|
-273.26021811630204,
|
|
-27.609211131850238
|
|
],
|
|
"normal": [
|
|
-0.03696538236094691,
|
|
0.018347452504005598,
|
|
0.9991481028824116
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.17241439069996298,
|
|
-0.2849834186192174,
|
|
-0.027433068143709893
|
|
],
|
|
[
|
|
0.17292333255677395,
|
|
-0.2605587441293417,
|
|
-0.02870531019645584
|
|
],
|
|
[
|
|
0.19690188998049687,
|
|
-0.2615489566026629,
|
|
-0.026949579723805895
|
|
],
|
|
[
|
|
0.1968371475504506,
|
|
-0.285949753113986,
|
|
-0.02734888646342933
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 24.343093644665778,
|
|
"weight": 0.6542
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.369197792626815,
|
|
-0.1857436626700597,
|
|
-0.02760751576830979
|
|
],
|
|
"position_mm": [
|
|
369.197792626815,
|
|
-185.7436626700597,
|
|
-27.60751576830979
|
|
],
|
|
"normal": [
|
|
-0.0483556561154326,
|
|
0.0215178711604489,
|
|
0.9985983735928916
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.35697701134548326,
|
|
-0.19775170294754674,
|
|
-0.028165720752956123
|
|
],
|
|
[
|
|
0.35717999133113276,
|
|
-0.17348771650939623,
|
|
-0.028227263364491096
|
|
],
|
|
[
|
|
0.38137949240651914,
|
|
-0.17416694932659815,
|
|
-0.027501518607480416
|
|
],
|
|
[
|
|
0.38125467542412506,
|
|
-0.19756828189669767,
|
|
-0.026535560348311536
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 24.059859393085066,
|
|
"weight": 0.5887
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.10462948511641995,
|
|
-0.18631859957962704,
|
|
-0.027250305898322984
|
|
],
|
|
"position_mm": [
|
|
104.62948511641996,
|
|
-186.31859957962703,
|
|
-27.250305898322985
|
|
],
|
|
"normal": [
|
|
-0.017208311057066425,
|
|
0.02454883864207025,
|
|
0.9995505132567784
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.09257843286587261,
|
|
-0.1983913245803356,
|
|
-0.02671215220655653
|
|
],
|
|
[
|
|
0.09250088113413102,
|
|
-0.17362678743571425,
|
|
-0.028214358137968725
|
|
],
|
|
[
|
|
0.11681481922655008,
|
|
-0.17440673139921095,
|
|
-0.026882995513005527
|
|
],
|
|
[
|
|
0.11662380723912608,
|
|
-0.19884955490324735,
|
|
-0.027191717735761168
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 24.41826695860285,
|
|
"weight": 0.5666
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"link": "Board",
|
|
"set": "A0",
|
|
"position_m": [
|
|
0.5243032524385538,
|
|
-0.2671503843697438,
|
|
-0.027083400996527653
|
|
],
|
|
"position_mm": [
|
|
524.3032524385538,
|
|
-267.1503843697438,
|
|
-27.083400996527654
|
|
],
|
|
"normal": [
|
|
-0.01599864651832562,
|
|
0.0193841406085693,
|
|
0.9996840993045999
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.5126190358135955,
|
|
-0.2791030083767478,
|
|
-0.02681629446106809
|
|
],
|
|
[
|
|
0.512098514662561,
|
|
-0.2552559596265507,
|
|
-0.027729813359457452
|
|
],
|
|
[
|
|
0.5360805511016133,
|
|
-0.2551047029136219,
|
|
-0.026909587234653514
|
|
],
|
|
[
|
|
0.5364149081764455,
|
|
-0.2791378665620548,
|
|
-0.026877908930931543
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.92455978321324,
|
|
"weight": 0.7573
|
|
},
|
|
{
|
|
"marker_id": 118,
|
|
"link": "unknown",
|
|
"set": "",
|
|
"position_m": [
|
|
0.32298816818524,
|
|
-0.17421642921561398,
|
|
0.04715543350989927
|
|
],
|
|
"position_mm": [
|
|
322.98816818524,
|
|
-174.21642921561397,
|
|
47.155433509899275
|
|
],
|
|
"normal": [
|
|
0.023353254828965702,
|
|
-0.9946235446357008,
|
|
0.10088919637507068
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.33476004555214456,
|
|
-0.1752484154969771,
|
|
0.03512413032791927
|
|
],
|
|
[
|
|
0.310777226339317,
|
|
-0.1756396368867708,
|
|
0.03509894287494888
|
|
],
|
|
[
|
|
0.3111479410203566,
|
|
-0.17333631323919282,
|
|
0.05941960341544526
|
|
],
|
|
[
|
|
0.3352674598291419,
|
|
-0.17264135123951513,
|
|
0.05897905742128367
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 24.138550445270795,
|
|
"weight": 0.5186
|
|
},
|
|
{
|
|
"marker_id": 122,
|
|
"link": "Ellbow",
|
|
"set": "",
|
|
"position_m": [
|
|
0.35995324620045366,
|
|
-0.17378489750800846,
|
|
0.0460683598840121
|
|
],
|
|
"position_mm": [
|
|
359.95324620045363,
|
|
-173.78489750800847,
|
|
46.068359884012104
|
|
],
|
|
"normal": [
|
|
0.002041765658866945,
|
|
-0.9936087740562163,
|
|
0.11286024681657081
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.37237083657539377,
|
|
-0.17476777610542663,
|
|
0.03475408390097215
|
|
],
|
|
[
|
|
0.3482490618411883,
|
|
-0.17553383260537517,
|
|
0.03340429571107772
|
|
],
|
|
[
|
|
0.3473677923090367,
|
|
-0.1722990949728958,
|
|
0.056891546138556966
|
|
],
|
|
[
|
|
0.3718252940761956,
|
|
-0.17253888634833622,
|
|
0.05922351378544159
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 24.260840521667582,
|
|
"weight": 0.5297
|
|
},
|
|
{
|
|
"marker_id": 143,
|
|
"link": "Arm2",
|
|
"set": "",
|
|
"position_m": [
|
|
0.34007312232696796,
|
|
-0.1382191635210904,
|
|
0.22965654088534693
|
|
],
|
|
"position_mm": [
|
|
340.07312232696796,
|
|
-138.2191635210904,
|
|
229.6565408853469
|
|
],
|
|
"normal": [
|
|
-0.7269504938098722,
|
|
-0.6815068127754624,
|
|
0.08421071006833851
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.3480389309077827,
|
|
-0.14801535604441635,
|
|
0.2184936812458148
|
|
],
|
|
[
|
|
0.3317421366371119,
|
|
-0.13105442197717015,
|
|
0.21635861171371373
|
|
],
|
|
[
|
|
0.33230494277749395,
|
|
-0.12844443628023183,
|
|
0.24105791244094704
|
|
],
|
|
[
|
|
0.3482064789854832,
|
|
-0.1453624397825433,
|
|
0.24271595814091218
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 24.02655536545685,
|
|
"weight": 0.5826
|
|
},
|
|
{
|
|
"marker_id": 144,
|
|
"link": "Arm2",
|
|
"set": "",
|
|
"position_m": [
|
|
0.3629310777112173,
|
|
-0.15715209973987782,
|
|
0.15816108361334208
|
|
],
|
|
"position_mm": [
|
|
362.9310777112173,
|
|
-157.15209973987783,
|
|
158.16108361334207
|
|
],
|
|
"normal": [
|
|
-0.05456292778568429,
|
|
-0.991700710789519,
|
|
0.1164155794170905
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.37472552110629315,
|
|
-0.15913817974105535,
|
|
0.145921532557608
|
|
],
|
|
[
|
|
0.3504507744668327,
|
|
-0.1579658184282881,
|
|
0.14621934022997046
|
|
],
|
|
[
|
|
0.3511978767410401,
|
|
-0.1549578281613012,
|
|
0.17051132839421881
|
|
],
|
|
[
|
|
0.3753501385307032,
|
|
-0.15654657262886662,
|
|
0.1699921332715711
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 24.30539376391887,
|
|
"weight": 0.6648
|
|
},
|
|
{
|
|
"marker_id": 146,
|
|
"link": "Arm2",
|
|
"set": "",
|
|
"position_m": [
|
|
0.3373055076322522,
|
|
-0.14770715597985262,
|
|
0.16001776498795617
|
|
],
|
|
"position_mm": [
|
|
337.3055076322522,
|
|
-147.70715597985262,
|
|
160.01776498795616
|
|
],
|
|
"normal": [
|
|
-0.6883325810176156,
|
|
-0.7230290029066275,
|
|
0.05854330760621411
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.3456458155727731,
|
|
-0.1563892069210023,
|
|
0.14797091772107682
|
|
],
|
|
[
|
|
0.3293408254775714,
|
|
-0.14141274771328408,
|
|
0.1469862951970766
|
|
],
|
|
[
|
|
0.32873382652997896,
|
|
-0.1383524027451605,
|
|
0.1720473710637107
|
|
],
|
|
[
|
|
0.3455015629486854,
|
|
-0.15467426653996358,
|
|
0.17306647596996053
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.998093168227342,
|
|
"weight": 0.4918
|
|
},
|
|
{
|
|
"marker_id": 147,
|
|
"link": "FingerA",
|
|
"set": "",
|
|
"position_m": [
|
|
0.383247310658375,
|
|
-0.14404858279642158,
|
|
0.22650484413452593
|
|
],
|
|
"position_mm": [
|
|
383.247310658375,
|
|
-144.04858279642158,
|
|
226.50484413452594
|
|
],
|
|
"normal": [
|
|
0.4377766576413942,
|
|
-0.8960687201735422,
|
|
0.07356933295116713
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.3935197815892526,
|
|
-0.13974166604521326,
|
|
0.2139115007407279
|
|
],
|
|
[
|
|
0.3723849790592809,
|
|
-0.15058476908381274,
|
|
0.21543348549040017
|
|
],
|
|
[
|
|
0.37263145728916863,
|
|
-0.1478807921526146,
|
|
0.23913071574017944
|
|
],
|
|
[
|
|
0.39445302469579774,
|
|
-0.1379871039040457,
|
|
0.2375436745667962
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.845687610972416,
|
|
"weight": 0.7037
|
|
},
|
|
{
|
|
"marker_id": 148,
|
|
"link": "Arm2",
|
|
"set": "",
|
|
"position_m": [
|
|
0.3672093311825495,
|
|
-0.14290732720877108,
|
|
0.2643447735325815
|
|
],
|
|
"position_mm": [
|
|
367.2093311825495,
|
|
-142.90732720877108,
|
|
264.3447735325815
|
|
],
|
|
"normal": [
|
|
-0.04936229432134974,
|
|
-0.9958554331829946,
|
|
0.07638926691127913
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.3787507011018173,
|
|
-0.14411633223682072,
|
|
0.25180607125574883
|
|
],
|
|
[
|
|
0.3547204444979868,
|
|
-0.1435244086056783,
|
|
0.2524124020244396
|
|
],
|
|
[
|
|
0.35575932210553307,
|
|
-0.14104782797773505,
|
|
0.2769859677459469
|
|
],
|
|
[
|
|
0.3796068570248607,
|
|
-0.14294074001485027,
|
|
0.2761746531041907
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 24.278328806723824,
|
|
"weight": 0.7853
|
|
},
|
|
{
|
|
"marker_id": 178,
|
|
"link": "FingerB",
|
|
"set": "",
|
|
"position_m": [
|
|
0.2877290003670202,
|
|
-0.12140462316811663,
|
|
0.315332767953462
|
|
],
|
|
"position_mm": [
|
|
287.7290003670202,
|
|
-121.40462316811663,
|
|
315.332767953462
|
|
],
|
|
"normal": [
|
|
-0.6717906682991077,
|
|
-0.7214974393473287,
|
|
-0.16774606702240746
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.2795480733628238,
|
|
-0.1168579938814506,
|
|
0.3287335215114899
|
|
],
|
|
[
|
|
0.29525200710959515,
|
|
-0.13083364767316769,
|
|
0.3255688547392651
|
|
],
|
|
[
|
|
0.29674089555706734,
|
|
-0.12657109624422969,
|
|
0.30163726012120756
|
|
],
|
|
[
|
|
0.2793750254385946,
|
|
-0.11135575487361854,
|
|
0.3053914354418854
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.246761167124166,
|
|
"weight": 0.4355
|
|
},
|
|
{
|
|
"marker_id": 179,
|
|
"link": "FingerB",
|
|
"set": "",
|
|
"position_m": [
|
|
0.32915099003191667,
|
|
-0.13963875539016746,
|
|
0.3114028553563564
|
|
],
|
|
"position_mm": [
|
|
329.15099003191665,
|
|
-139.63875539016746,
|
|
311.40285535635644
|
|
],
|
|
"normal": [
|
|
-0.6125139555017056,
|
|
-0.17201383625354036,
|
|
0.7715166196868314
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.3158094259516793,
|
|
-0.13583766696306043,
|
|
0.3018083800379275
|
|
],
|
|
[
|
|
0.33070646775437573,
|
|
-0.12403473821343082,
|
|
0.3159752716513444
|
|
],
|
|
[
|
|
0.34273487462248836,
|
|
-0.1440237073429093,
|
|
0.3213504202643478
|
|
],
|
|
[
|
|
0.32735319179912326,
|
|
-0.15465890904126925,
|
|
0.3064773494718061
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.52667075209077,
|
|
"weight": 0.4979
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"link": "Arm1",
|
|
"set": "",
|
|
"position_m": [
|
|
0.26853175438200816,
|
|
-0.053978358635442654,
|
|
0.08439827859595683
|
|
],
|
|
"position_mm": [
|
|
268.53175438200816,
|
|
-53.97835863544265,
|
|
84.39827859595684
|
|
],
|
|
"normal": [
|
|
0.008635583988426378,
|
|
0.013194422906982695,
|
|
0.9998756592163501
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.2564369442347636,
|
|
-0.041549903891408224,
|
|
0.08432325606385158
|
|
],
|
|
[
|
|
0.2798400193816042,
|
|
-0.0412622704363064,
|
|
0.08414829402563896
|
|
],
|
|
[
|
|
0.28161734477109546,
|
|
-0.06638731584787211,
|
|
0.0844347377465027
|
|
],
|
|
[
|
|
0.2562327091405695,
|
|
-0.06671394436618389,
|
|
0.08468682654783409
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 24.78760988721936,
|
|
"weight": 0.4918
|
|
},
|
|
{
|
|
"marker_id": 200,
|
|
"link": "unknown",
|
|
"set": "",
|
|
"position_m": [
|
|
0.1996595055523626,
|
|
-0.02882206145297598,
|
|
0.11004243702297827
|
|
],
|
|
"position_mm": [
|
|
199.6595055523626,
|
|
-28.82206145297598,
|
|
110.04243702297826
|
|
],
|
|
"normal": [
|
|
-0.1513393766243665,
|
|
-0.016950905622498128,
|
|
0.9883365114582813
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.18665785620495545,
|
|
-0.016207523420330838,
|
|
0.10762694221032588
|
|
],
|
|
[
|
|
0.21104837997915116,
|
|
-0.018702807513759603,
|
|
0.11268111143348455
|
|
],
|
|
[
|
|
0.21248846586767461,
|
|
-0.040076819277184234,
|
|
0.11107638953905809
|
|
],
|
|
[
|
|
0.18844332015766904,
|
|
-0.04030109560062925,
|
|
0.10878530490904452
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.714580941417054,
|
|
"weight": 0.5512
|
|
},
|
|
{
|
|
"marker_id": 204,
|
|
"link": "unknown",
|
|
"set": "",
|
|
"position_m": [
|
|
0.1984765740223956,
|
|
0.11542831824770719,
|
|
0.12090915141576847
|
|
],
|
|
"position_mm": [
|
|
198.4765740223956,
|
|
115.4283182477072,
|
|
120.90915141576846
|
|
],
|
|
"normal": [
|
|
0.03546403507258911,
|
|
0.044277915694797776,
|
|
0.9983895874848128
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.18632741812774353,
|
|
0.12604429359606398,
|
|
0.12132533001126279
|
|
],
|
|
[
|
|
0.21023500632947217,
|
|
0.12872967381799474,
|
|
0.11950266734537837
|
|
],
|
|
[
|
|
0.2109972305473541,
|
|
0.10326132433663346,
|
|
0.12139195103081395
|
|
],
|
|
[
|
|
0.18634664108501267,
|
|
0.1036779812401366,
|
|
0.1214166572756187
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 24.174301619640744,
|
|
"weight": 0.319
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"link": "Board",
|
|
"set": "rail",
|
|
"position_m": [
|
|
0.6263548460409031,
|
|
-0.09861748413242921,
|
|
-0.006792883816376907
|
|
],
|
|
"position_mm": [
|
|
626.3548460409031,
|
|
-98.61748413242921,
|
|
-6.792883816376906
|
|
],
|
|
"normal": [
|
|
-0.0008430903222964405,
|
|
0.015370842068947767,
|
|
0.999881506186008
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.614230807767895,
|
|
-0.08651647656308285,
|
|
-0.007143804201318833
|
|
],
|
|
[
|
|
0.6378805927521303,
|
|
-0.08673801245551091,
|
|
-0.006804726675489914
|
|
],
|
|
[
|
|
0.6389071304923027,
|
|
-0.11022444812110638,
|
|
-0.006759257810994225
|
|
],
|
|
[
|
|
0.614400853151284,
|
|
-0.11099099939001673,
|
|
-0.006463746577704654
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 24.04168986172767,
|
|
"weight": 0.5135
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"link": "Board",
|
|
"set": "rail",
|
|
"position_m": [
|
|
0.12990350318916816,
|
|
-0.007860989622206821,
|
|
-0.005665807819902785
|
|
],
|
|
"position_mm": [
|
|
129.90350318916816,
|
|
-7.860989622206821,
|
|
-5.665807819902785
|
|
],
|
|
"normal": [
|
|
0.06218884802716192,
|
|
0.022532660923192397,
|
|
0.9978100151696089
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.11812523787255753,
|
|
0.002655082362769257,
|
|
-0.005006889677640234
|
|
],
|
|
[
|
|
0.14140445655343198,
|
|
0.004617715410766273,
|
|
-0.006818226965514111
|
|
],
|
|
[
|
|
0.1417852165765155,
|
|
-0.01898482631912202,
|
|
-0.006002346836519512
|
|
],
|
|
[
|
|
0.1182991017541676,
|
|
-0.019731929943240793,
|
|
-0.004835767799937283
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.24172619372823,
|
|
"weight": 0.3847
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"link": "unknown",
|
|
"set": "",
|
|
"position_m": [
|
|
0.5316233749448692,
|
|
-0.00858611878564643,
|
|
-0.006826845819367963
|
|
],
|
|
"position_mm": [
|
|
531.6233749448692,
|
|
-8.58611878564643,
|
|
-6.826845819367963
|
|
],
|
|
"normal": [
|
|
-0.029216114754592536,
|
|
0.041964563867683435,
|
|
0.9986918413695196
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.5200639817736521,
|
|
0.004014920000578812,
|
|
-0.007955232702632127
|
|
],
|
|
[
|
|
0.5437436861591388,
|
|
0.0033437727637393427,
|
|
-0.00670586095180886
|
|
],
|
|
[
|
|
0.543424610151461,
|
|
-0.02088612093561667,
|
|
-0.006227672713336715
|
|
],
|
|
[
|
|
0.5192612216952248,
|
|
-0.020817046971287202,
|
|
-0.0064186169096941475
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 24.253875742237295,
|
|
"weight": 0.3994
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"link": "Board",
|
|
"set": "rail",
|
|
"position_m": [
|
|
0.7300104243586413,
|
|
-0.008511771670393872,
|
|
-0.004995991947031072
|
|
],
|
|
"position_mm": [
|
|
730.0104243586413,
|
|
-8.511771670393872,
|
|
-4.995991947031071
|
|
],
|
|
"normal": [
|
|
-0.08513421891679325,
|
|
-0.014380586401670947,
|
|
0.996265709288527
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.718762967749027,
|
|
0.003958668817858879,
|
|
-0.0060277521587317265
|
|
],
|
|
[
|
|
0.7412507299735428,
|
|
0.0022088131577019253,
|
|
-0.0036254947775964112
|
|
],
|
|
[
|
|
0.7416642532933401,
|
|
-0.02078566480972951,
|
|
-0.004424609338446484
|
|
],
|
|
[
|
|
0.7183637464186549,
|
|
-0.01942890384740678,
|
|
-0.005906111513349667
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.118405458871074,
|
|
"weight": 0.5425
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"link": "Arm1",
|
|
"set": "",
|
|
"position_m": [
|
|
0.27117371734787965,
|
|
-0.142109938467787,
|
|
0.07909951844444263
|
|
],
|
|
"position_mm": [
|
|
271.17371734787963,
|
|
-142.109938467787,
|
|
79.09951844444262
|
|
],
|
|
"normal": [
|
|
0.010621701517588964,
|
|
-0.04516491645295307,
|
|
0.9989230750056127
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.25888497580027847,
|
|
-0.13051133186568323,
|
|
0.07949967513799078
|
|
],
|
|
[
|
|
0.2830619059411058,
|
|
-0.13034159839295315,
|
|
0.07976875295894265
|
|
],
|
|
[
|
|
0.28374030385188437,
|
|
-0.15328491647851367,
|
|
0.07820315761647183
|
|
],
|
|
[
|
|
0.2590076837982499,
|
|
-0.15430190713399794,
|
|
0.07892648806436525
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.936895358523532,
|
|
"weight": 0.5405
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"link": "Arm1",
|
|
"set": "",
|
|
"position_m": [
|
|
0.270301287205652,
|
|
-0.176611833712784,
|
|
0.04373112532446407
|
|
],
|
|
"position_mm": [
|
|
270.301287205652,
|
|
-176.611833712784,
|
|
43.73112532446407
|
|
],
|
|
"normal": [
|
|
0.020442155933672386,
|
|
-0.9996039038483082,
|
|
-0.019343052292899343
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.2583375240724305,
|
|
-0.17731625327954492,
|
|
0.05633103870321022
|
|
],
|
|
[
|
|
0.2826845167646905,
|
|
-0.17635561753528006,
|
|
0.05501022626707863
|
|
],
|
|
[
|
|
0.2822567871432804,
|
|
-0.17635060413357947,
|
|
0.03141262678354164
|
|
],
|
|
[
|
|
0.25792632084220674,
|
|
-0.17642485990273152,
|
|
0.03217060954402579
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 24.13148332838305,
|
|
"weight": 0.4708
|
|
}
|
|
]
|
|
} |