732 lines
14 KiB
JSON
732 lines
14 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-02T22:51:48Z",
|
|
"summary": {
|
|
"num_cameras": 4,
|
|
"num_markers": 34,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.3001274357176493,
|
|
-0.7979520803678932,
|
|
0.8009902676185592
|
|
],
|
|
"position_mm": [
|
|
-300.12743571764935,
|
|
-797.9520803678932,
|
|
800.9902676185592
|
|
],
|
|
"direction": [
|
|
0.4789915382862091,
|
|
0.6567302346229553,
|
|
-0.5824710726737976
|
|
]
|
|
},
|
|
{
|
|
"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": "d",
|
|
"position_m": [
|
|
0.7046937746856436,
|
|
-0.7914174011623307,
|
|
0.3989527588758248
|
|
],
|
|
"position_mm": [
|
|
704.6937746856437,
|
|
-791.4174011623307,
|
|
398.9527588758248
|
|
],
|
|
"direction": [
|
|
-0.5576696991920471,
|
|
0.7805226445198059,
|
|
-0.28246936202049255
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "f",
|
|
"position_m": [
|
|
0.4848910479147168,
|
|
-0.3064199973610857,
|
|
1.40194389878924
|
|
],
|
|
"position_mm": [
|
|
484.8910479147168,
|
|
-306.41999736108573,
|
|
1401.9438987892402
|
|
],
|
|
"direction": [
|
|
-0.22731362283229828,
|
|
0.08567609637975693,
|
|
-0.9700454473495483
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.29277379418674554,
|
|
-0.3615445170700594,
|
|
0.18877741796670347
|
|
],
|
|
"position_mm": [
|
|
292.77379418674553,
|
|
-361.5445170700594,
|
|
188.77741796670347
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 44,
|
|
"position_m": [
|
|
0.31836686855321716,
|
|
-0.28907150984779106,
|
|
0.18650204345775145
|
|
],
|
|
"position_mm": [
|
|
318.36686855321716,
|
|
-289.07150984779105,
|
|
186.50204345775145
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
-0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.3437072364187465,
|
|
-0.28820576601857006,
|
|
-0.027429922818775026
|
|
],
|
|
"position_mm": [
|
|
343.7072364187465,
|
|
-288.20576601857005,
|
|
-27.429922818775026
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16787257741808834,
|
|
-0.17337993955739509,
|
|
-0.02720739391465073
|
|
],
|
|
"position_mm": [
|
|
167.87257741808833,
|
|
-173.3799395573951,
|
|
-27.20739391465073
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.340363805387543,
|
|
-0.32716777993589946,
|
|
-0.028502632210201346
|
|
],
|
|
"position_mm": [
|
|
340.36380538754304,
|
|
-327.1677799358995,
|
|
-28.502632210201345
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.04721190135465234,
|
|
-0.21650872369830682,
|
|
-0.027779534466556878
|
|
],
|
|
"position_mm": [
|
|
47.21190135465234,
|
|
-216.50872369830682,
|
|
-27.77953446655688
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"position_m": [
|
|
-0.021999314358996082,
|
|
0.33286757486397817,
|
|
-0.025894079039995795
|
|
],
|
|
"position_mm": [
|
|
-21.99931435899608,
|
|
332.8675748639782,
|
|
-25.894079039995795
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4020524613205798,
|
|
-0.17299436997286308,
|
|
-0.028401235727384243
|
|
],
|
|
"position_mm": [
|
|
402.0524613205798,
|
|
-172.99436997286307,
|
|
-28.401235727384243
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.019634047503342376,
|
|
-0.18930087677796884,
|
|
-0.02802116892548088
|
|
],
|
|
"position_mm": [
|
|
-19.634047503342376,
|
|
-189.30087677796882,
|
|
-28.02116892548088
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005799329380499334,
|
|
-0.2774695465887887,
|
|
-0.027880965430765778
|
|
],
|
|
"position_mm": [
|
|
5.799329380499334,
|
|
-277.4695465887887,
|
|
-27.880965430765777
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"position_m": [
|
|
-0.027304487276530818,
|
|
0.19233987923091378,
|
|
-0.026132248145906683
|
|
],
|
|
"position_mm": [
|
|
-27.304487276530818,
|
|
192.33987923091377,
|
|
-26.132248145906683
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3112559394344455,
|
|
-0.15929854834098855,
|
|
-0.027469570562957922
|
|
],
|
|
"position_mm": [
|
|
311.2559394344455,
|
|
-159.29854834098856,
|
|
-27.469570562957923
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5073258220760002,
|
|
-0.3131150401258194,
|
|
-0.028714170352573364
|
|
],
|
|
"position_mm": [
|
|
507.3258220760002,
|
|
-313.1150401258194,
|
|
-28.714170352573362
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 94,
|
|
"position_m": [
|
|
0.8723983353761882,
|
|
0.1737748572012302,
|
|
-0.02624413775207572
|
|
],
|
|
"position_mm": [
|
|
872.3983353761881,
|
|
173.7748572012302,
|
|
-26.24413775207572
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18673295016431632,
|
|
-0.2760555854099222,
|
|
-0.02764824958728027
|
|
],
|
|
"position_mm": [
|
|
186.73295016431632,
|
|
-276.0555854099222,
|
|
-27.64824958728027
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3714872691687144,
|
|
-0.1840674462848379,
|
|
-0.02769078209117721
|
|
],
|
|
"position_mm": [
|
|
371.48726916871436,
|
|
-184.0674462848379,
|
|
-27.69078209117721
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.306095592775589,
|
|
-0.358352183953031,
|
|
-0.026983433854503427
|
|
],
|
|
"position_mm": [
|
|
306.095592775589,
|
|
-358.352183953031,
|
|
-26.983433854503428
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6514153126554443,
|
|
-0.22389949786635727,
|
|
-0.027642246633567708
|
|
],
|
|
"position_mm": [
|
|
651.4153126554443,
|
|
-223.89949786635728,
|
|
-27.64224663356771
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10457919437834011,
|
|
-0.19028295200875733,
|
|
-0.027507976465814196
|
|
],
|
|
"position_mm": [
|
|
104.5791943783401,
|
|
-190.28295200875732,
|
|
-27.507976465814195
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"position_m": [
|
|
0.5229277939374632,
|
|
-0.26771769357825015,
|
|
-0.028080586631773454
|
|
],
|
|
"position_mm": [
|
|
522.9277939374632,
|
|
-267.71769357825013,
|
|
-28.080586631773453
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 114,
|
|
"position_m": [
|
|
0.27945592030374306,
|
|
-0.2362172192574617,
|
|
0.2210513691983915
|
|
],
|
|
"position_mm": [
|
|
279.455920303743,
|
|
-236.2172192574617,
|
|
221.05136919839148
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 120,
|
|
"position_m": [
|
|
0.2805434503646258,
|
|
-0.1701048974746871,
|
|
0.2444219109062758
|
|
],
|
|
"position_mm": [
|
|
280.5434503646258,
|
|
-170.1048974746871,
|
|
244.4219109062758
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"position_m": [
|
|
0.7528453089537392,
|
|
-0.09070786319261125,
|
|
0.00012710206317461553
|
|
],
|
|
"position_mm": [
|
|
752.8453089537393,
|
|
-90.70786319261124,
|
|
0.12710206317461553
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6504211868180749,
|
|
-0.009691876002269896,
|
|
-0.00022850931837027072
|
|
],
|
|
"position_mm": [
|
|
650.421186818075,
|
|
-9.691876002269897,
|
|
-0.22850931837027072
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.3522746689890584,
|
|
-0.08959547996392563,
|
|
0.0012471818520950158
|
|
],
|
|
"position_mm": [
|
|
352.2746689890584,
|
|
-89.59547996392563,
|
|
1.2471818520950158
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.02173869517856086,
|
|
-0.020341195622494732,
|
|
0.0009824584681152823
|
|
],
|
|
"position_mm": [
|
|
21.73869517856086,
|
|
-20.341195622494734,
|
|
0.9824584681152823
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.25240643055272044,
|
|
-0.009482888877781932,
|
|
0.00036198644330371287
|
|
],
|
|
"position_mm": [
|
|
252.40643055272045,
|
|
-9.482888877781932,
|
|
0.3619864433037129
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3479485615784635,
|
|
-0.012691850418236597,
|
|
0.0015524610712744518
|
|
],
|
|
"position_mm": [
|
|
347.9485615784635,
|
|
-12.691850418236598,
|
|
1.5524610712744518
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.6470820033074478,
|
|
-0.0891155827418281,
|
|
-0.00019791206518620725
|
|
],
|
|
"position_mm": [
|
|
647.0820033074478,
|
|
-89.11558274182809,
|
|
-0.19791206518620724
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"position_m": [
|
|
0.24887649731851036,
|
|
-0.17054847227691428,
|
|
0.24356176226949014
|
|
],
|
|
"position_mm": [
|
|
248.87649731851036,
|
|
-170.54847227691428,
|
|
243.56176226949015
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"position_m": [
|
|
0.2520996335825518,
|
|
-0.2724083462798941,
|
|
0.20797432486562795
|
|
],
|
|
"position_mm": [
|
|
252.09963358255177,
|
|
-272.4083462798941,
|
|
207.97432486562795
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.17841843922094222,
|
|
-0.07807658124598253,
|
|
0.27586701211539694
|
|
],
|
|
"position_mm": [
|
|
178.41843922094222,
|
|
-78.07658124598254,
|
|
275.86701211539696
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"position_m": [
|
|
0.26772118801616934,
|
|
-0.06980185220007921,
|
|
0.2869150235403535
|
|
],
|
|
"position_mm": [
|
|
267.7211880161693,
|
|
-69.80185220007921,
|
|
286.9150235403535
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"position_m": [
|
|
0.2300303891706181,
|
|
-0.06201143101262158,
|
|
0.28546763852832446
|
|
],
|
|
"position_mm": [
|
|
230.0303891706181,
|
|
-62.011431012621586,
|
|
285.46763852832447
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
}
|
|
]
|
|
} |