390 lines
7.4 KiB
JSON
390 lines
7.4 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-02T22:50:49Z",
|
|
"summary": {
|
|
"num_cameras": 3,
|
|
"num_markers": 17,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "b",
|
|
"position_m": [
|
|
0.30646773723406184,
|
|
-0.8952954576450594,
|
|
1.2012608829797486
|
|
],
|
|
"position_mm": [
|
|
306.4677372340618,
|
|
-895.2954576450594,
|
|
1201.2608829797487
|
|
],
|
|
"direction": [
|
|
0.00400501536205411,
|
|
0.6243181228637695,
|
|
-0.7811599373817444
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "c",
|
|
"position_m": [
|
|
0.30222042083446865,
|
|
-0.9015130863831495,
|
|
0.39827613859571753
|
|
],
|
|
"position_mm": [
|
|
302.22042083446865,
|
|
-901.5130863831496,
|
|
398.27613859571755
|
|
],
|
|
"direction": [
|
|
-0.10769812762737274,
|
|
0.9494794607162476,
|
|
-0.2947707772254944
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "e",
|
|
"position_m": [
|
|
1.2059563341749637,
|
|
-0.9025538118437437,
|
|
0.4061715893081437
|
|
],
|
|
"position_mm": [
|
|
1205.9563341749638,
|
|
-902.5538118437437,
|
|
406.17158930814367
|
|
],
|
|
"direction": [
|
|
-0.750444233417511,
|
|
0.60433429479599,
|
|
-0.2676071226596832
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.2924239026835552,
|
|
-0.36221792723320234,
|
|
0.18952723588270562
|
|
],
|
|
"position_mm": [
|
|
292.42390268355524,
|
|
-362.2179272332023,
|
|
189.5272358827056
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 44,
|
|
"position_m": [
|
|
0.319885407228217,
|
|
-0.2913008821882483,
|
|
0.1873251753267208
|
|
],
|
|
"position_mm": [
|
|
319.885407228217,
|
|
-291.3008821882483,
|
|
187.3251753267208
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
-0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6885296444446649,
|
|
-0.3200129471052571,
|
|
-0.026285576445647277
|
|
],
|
|
"position_mm": [
|
|
688.5296444446649,
|
|
-320.01294710525707,
|
|
-26.285576445647276
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 50,
|
|
"position_m": [
|
|
0.571054500200999,
|
|
0.21025313973660073,
|
|
-0.02652432721574429
|
|
],
|
|
"position_mm": [
|
|
571.054500200999,
|
|
210.25313973660073,
|
|
-26.52432721574429
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16764265893787703,
|
|
-0.17514797420922634,
|
|
-0.02663368381389221
|
|
],
|
|
"position_mm": [
|
|
167.64265893787703,
|
|
-175.14797420922633,
|
|
-26.63368381389221
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6265728421515242,
|
|
-0.27729048290118796,
|
|
-0.027456389471815328
|
|
],
|
|
"position_mm": [
|
|
626.5728421515242,
|
|
-277.29048290118794,
|
|
-27.456389471815328
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40247318911756,
|
|
-0.1731487883659013,
|
|
-0.027695695935718075
|
|
],
|
|
"position_mm": [
|
|
402.47318911756,
|
|
-173.1487883659013,
|
|
-27.695695935718074
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7753487754330157,
|
|
-0.23612405842297238,
|
|
-0.027868632042434175
|
|
],
|
|
"position_mm": [
|
|
775.3487754330157,
|
|
-236.12405842297238,
|
|
-27.868632042434175
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.018871505255454134,
|
|
-0.19034802231185943,
|
|
-0.026073794142279744
|
|
],
|
|
"position_mm": [
|
|
-18.871505255454135,
|
|
-190.34802231185944,
|
|
-26.073794142279745
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5067151453275589,
|
|
-0.3150589024958483,
|
|
-0.026460911490556457
|
|
],
|
|
"position_mm": [
|
|
506.7151453275589,
|
|
-315.05890249584826,
|
|
-26.460911490556455
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3707635303873401,
|
|
-0.1910784749742026,
|
|
-0.02291476008395768
|
|
],
|
|
"position_mm": [
|
|
370.7635303873401,
|
|
-191.0784749742026,
|
|
-22.91476008395768
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6507385363446531,
|
|
-0.2218472096044442,
|
|
-0.028651656063571288
|
|
],
|
|
"position_mm": [
|
|
650.7385363446531,
|
|
-221.8472096044442,
|
|
-28.651656063571288
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.105694906816857,
|
|
-0.19132974043352682,
|
|
-0.026955844104246608
|
|
],
|
|
"position_mm": [
|
|
105.694906816857,
|
|
-191.32974043352684,
|
|
-26.95584410424661
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 114,
|
|
"position_m": [
|
|
0.2816394319437303,
|
|
-0.2366180528970064,
|
|
0.22185364411565542
|
|
],
|
|
"position_mm": [
|
|
281.6394319437303,
|
|
-236.6180528970064,
|
|
221.8536441156554
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 120,
|
|
"position_m": [
|
|
0.2832376173626378,
|
|
-0.1707961960283115,
|
|
0.24562197003215472
|
|
],
|
|
"position_mm": [
|
|
283.2376173626378,
|
|
-170.7961960283115,
|
|
245.6219700321547
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6507336784872078,
|
|
-0.009466226451194258,
|
|
-0.00015106591370286917
|
|
],
|
|
"position_mm": [
|
|
650.7336784872077,
|
|
-9.466226451194258,
|
|
-0.15106591370286918
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.09969049159231394,
|
|
0.47156350749729636,
|
|
0.10944004009581579
|
|
],
|
|
"position_mm": [
|
|
99.69049159231395,
|
|
471.56350749729637,
|
|
109.44004009581579
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
}
|
|
]
|
|
} |