729 lines
14 KiB
JSON
729 lines
14 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-02T22:49:21Z",
|
|
"summary": {
|
|
"num_cameras": 6,
|
|
"num_markers": 32,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.29940769598056693,
|
|
-0.7968572832052518,
|
|
0.8013043562141825
|
|
],
|
|
"position_mm": [
|
|
-299.4076959805669,
|
|
-796.8572832052519,
|
|
801.3043562141825
|
|
],
|
|
"direction": [
|
|
0.47903624176979065,
|
|
0.6561309099197388,
|
|
-0.5831093788146973
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "c",
|
|
"position_m": [
|
|
0.2064071124379028,
|
|
-0.926187065022701,
|
|
0.3357318521749194
|
|
],
|
|
"position_mm": [
|
|
206.4071124379028,
|
|
-926.187065022701,
|
|
335.7318521749194
|
|
],
|
|
"direction": [
|
|
0.0031979582272469997,
|
|
0.9754828810691833,
|
|
-0.2200520932674408
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "d",
|
|
"position_m": [
|
|
0.7059955951329147,
|
|
-0.792357011835109,
|
|
0.3960723600448604
|
|
],
|
|
"position_mm": [
|
|
705.9955951329147,
|
|
-792.357011835109,
|
|
396.07236004486043
|
|
],
|
|
"direction": [
|
|
-0.5582603812217712,
|
|
0.781305193901062,
|
|
-0.27911919355392456
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "e",
|
|
"position_m": [
|
|
1.2103337331165203,
|
|
-0.9172186262611701,
|
|
0.4058150319226835
|
|
],
|
|
"position_mm": [
|
|
1210.3337331165203,
|
|
-917.2186262611701,
|
|
405.8150319226835
|
|
],
|
|
"direction": [
|
|
-0.7488687634468079,
|
|
0.6081039905548096,
|
|
-0.2634483873844147
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "f",
|
|
"position_m": [
|
|
0.4736207498765008,
|
|
-0.30539278460248376,
|
|
1.4078360695716652
|
|
],
|
|
"position_mm": [
|
|
473.62074987650084,
|
|
-305.39278460248374,
|
|
1407.8360695716651
|
|
],
|
|
"direction": [
|
|
-0.21933329105377197,
|
|
0.08437186479568481,
|
|
-0.9719949960708618
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "g",
|
|
"position_m": [
|
|
-0.20357531848645133,
|
|
0.2063757854729154,
|
|
1.4019736717044806
|
|
],
|
|
"position_mm": [
|
|
-203.57531848645132,
|
|
206.3757854729154,
|
|
1401.9736717044807
|
|
],
|
|
"direction": [
|
|
0.2981155812740326,
|
|
-0.30005064606666565,
|
|
-0.906143844127655
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.5370221131030669,
|
|
0.18380498536143547,
|
|
-0.03197156798955244
|
|
],
|
|
"position_mm": [
|
|
537.0221131030669,
|
|
183.80498536143546,
|
|
-31.97156798955244
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6871330863426569,
|
|
-0.3192651586718253,
|
|
-0.02841819088063591
|
|
],
|
|
"position_mm": [
|
|
687.133086342657,
|
|
-319.2651586718253,
|
|
-28.418190880635912
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.4878824802042057,
|
|
0.21152059713196633,
|
|
-0.023641931681785064
|
|
],
|
|
"position_mm": [
|
|
487.8824802042057,
|
|
211.52059713196633,
|
|
-23.641931681785064
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.34045719610361835,
|
|
-0.32722508793840877,
|
|
-0.02769847810335639
|
|
],
|
|
"position_mm": [
|
|
340.45719610361834,
|
|
-327.22508793840876,
|
|
-27.69847810335639
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2842944523099294,
|
|
-0.26117847434967734,
|
|
-0.026918528190560672
|
|
],
|
|
"position_mm": [
|
|
284.2944523099294,
|
|
-261.17847434967734,
|
|
-26.91852819056067
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.49914134211654015,
|
|
0.1677073393828911,
|
|
-0.026190121560371867
|
|
],
|
|
"position_mm": [
|
|
499.14134211654016,
|
|
167.7073393828911,
|
|
-26.190121560371868
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.0489253355626517,
|
|
-0.21696141462241422,
|
|
-0.027258335505734296
|
|
],
|
|
"position_mm": [
|
|
48.9253355626517,
|
|
-216.96141462241422,
|
|
-27.258335505734298
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40374338806689897,
|
|
-0.17235778521260178,
|
|
-0.02952323891729866
|
|
],
|
|
"position_mm": [
|
|
403.74338806689894,
|
|
-172.35778521260178,
|
|
-29.52323891729866
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.776207943452269,
|
|
-0.2357798060383691,
|
|
-0.02739517687832684
|
|
],
|
|
"position_mm": [
|
|
776.207943452269,
|
|
-235.7798060383691,
|
|
-27.39517687832684
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.02269402563064416,
|
|
-0.18774413876364335,
|
|
-0.028694905368289822
|
|
],
|
|
"position_mm": [
|
|
-22.694025630644163,
|
|
-187.74413876364335,
|
|
-28.69490536828982
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005537733057505776,
|
|
-0.27943953604745553,
|
|
-0.026889426413397262
|
|
],
|
|
"position_mm": [
|
|
5.5377330575057755,
|
|
-279.43953604745553,
|
|
-26.889426413397263
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.44256358262490636,
|
|
0.1943410446127878,
|
|
-0.02818690991477132
|
|
],
|
|
"position_mm": [
|
|
442.56358262490636,
|
|
194.3410446127878,
|
|
-28.18690991477132
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31218782039817516,
|
|
-0.15854883720483298,
|
|
-0.026802014924453468
|
|
],
|
|
"position_mm": [
|
|
312.1878203981752,
|
|
-158.54883720483298,
|
|
-26.802014924453466
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5062572630973777,
|
|
-0.3136077571412687,
|
|
-0.02717417320954508
|
|
],
|
|
"position_mm": [
|
|
506.25726309737774,
|
|
-313.6077571412687,
|
|
-27.174173209545078
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.361409064393597,
|
|
0.2942436205612952,
|
|
-0.02613359342691135
|
|
],
|
|
"position_mm": [
|
|
361.40906439359696,
|
|
294.2436205612952,
|
|
-26.13359342691135
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.1872544156721695,
|
|
-0.27626547757046266,
|
|
-0.02742803368558368
|
|
],
|
|
"position_mm": [
|
|
187.2544156721695,
|
|
-276.2654775704627,
|
|
-27.42803368558368
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3696740147624049,
|
|
-0.18589331104173398,
|
|
-0.027094084137045636
|
|
],
|
|
"position_mm": [
|
|
369.6740147624049,
|
|
-185.893311041734,
|
|
-27.094084137045638
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.3052730780178424,
|
|
-0.3594495114072407,
|
|
-0.025008790078768266
|
|
],
|
|
"position_mm": [
|
|
305.2730780178424,
|
|
-359.44951140724066,
|
|
-25.008790078768264
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6516644074666798,
|
|
-0.22360764449875437,
|
|
-0.027683719241501863
|
|
],
|
|
"position_mm": [
|
|
651.6644074666798,
|
|
-223.60764449875435,
|
|
-27.683719241501862
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10637968735600543,
|
|
-0.1901903749007773,
|
|
-0.02710367089990254
|
|
],
|
|
"position_mm": [
|
|
106.37968735600543,
|
|
-190.1903749007773,
|
|
-27.103670899902543
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.2639420039564312,
|
|
0.03883510044359831,
|
|
0.0936061236784207
|
|
],
|
|
"position_mm": [
|
|
263.94200395643117,
|
|
38.83510044359831,
|
|
93.60612367842069
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.16020643881902155,
|
|
-0.05229119310134407,
|
|
0.09735515925371171
|
|
],
|
|
"position_mm": [
|
|
160.20643881902154,
|
|
-52.29119310134407,
|
|
97.35515925371172
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"position_m": [
|
|
0.7532885032412063,
|
|
-0.0905263571107336,
|
|
-0.0006971139132050861
|
|
],
|
|
"position_mm": [
|
|
753.2885032412063,
|
|
-90.5263571107336,
|
|
-0.6971139132050861
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.35236086872950195,
|
|
-0.09093836563331774,
|
|
0.0010226067497538906
|
|
],
|
|
"position_mm": [
|
|
352.36086872950193,
|
|
-90.93836563331774,
|
|
1.0226067497538907
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.02176916064187998,
|
|
-0.02078846361412341,
|
|
0.0015562618304586313
|
|
],
|
|
"position_mm": [
|
|
21.769160641879978,
|
|
-20.78846361412341,
|
|
1.5562618304586313
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3474091726730187,
|
|
-0.011093738093526179,
|
|
0.0004625425320832053
|
|
],
|
|
"position_mm": [
|
|
347.4091726730187,
|
|
-11.093738093526179,
|
|
0.46254253208320534
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.647430506134545,
|
|
-0.08923626793055744,
|
|
-0.0007668904000713881
|
|
],
|
|
"position_mm": [
|
|
647.430506134545,
|
|
-89.23626793055745,
|
|
-0.7668904000713881
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.15715475327435596,
|
|
-0.14207135632690862,
|
|
0.09185868996861654
|
|
],
|
|
"position_mm": [
|
|
157.15475327435595,
|
|
-142.0713563269086,
|
|
91.85868996861655
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"position_m": [
|
|
0.24565023720962745,
|
|
-0.16585930970835736,
|
|
0.08206077905632374
|
|
],
|
|
"position_mm": [
|
|
245.65023720962745,
|
|
-165.85930970835736,
|
|
82.06077905632374
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.1578207885060858,
|
|
-0.17465530479458072,
|
|
0.054604636576163997
|
|
],
|
|
"position_mm": [
|
|
157.8207885060858,
|
|
-174.65530479458073,
|
|
54.604636576164
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"position_m": [
|
|
0.28520663210435065,
|
|
-0.1470903433850766,
|
|
0.060997147132145865
|
|
],
|
|
"position_mm": [
|
|
285.20663210435066,
|
|
-147.0903433850766,
|
|
60.99714713214586
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.24919869587170682,
|
|
-0.14247838557392153,
|
|
0.09464482968064043
|
|
],
|
|
"position_mm": [
|
|
249.1986958717068,
|
|
-142.47838557392154,
|
|
94.64482968064043
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |