808 lines
15 KiB
JSON
808 lines
15 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-02T22:52:40Z",
|
|
"summary": {
|
|
"num_cameras": 4,
|
|
"num_markers": 38,
|
|
"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": "f",
|
|
"position_m": [
|
|
0.4848910479147168,
|
|
-0.3064199973610857,
|
|
1.40194389878924
|
|
],
|
|
"position_mm": [
|
|
484.8910479147168,
|
|
-306.41999736108573,
|
|
1401.9438987892402
|
|
],
|
|
"direction": [
|
|
-0.22731362283229828,
|
|
0.08567609637975693,
|
|
-0.9700454473495483
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "g",
|
|
"position_m": [
|
|
-0.20647920852698148,
|
|
0.20854052825566233,
|
|
1.3996693000606282
|
|
],
|
|
"position_mm": [
|
|
-206.4792085269815,
|
|
208.54052825566234,
|
|
1399.669300060628
|
|
],
|
|
"direction": [
|
|
0.30005520582199097,
|
|
-0.30117395520210266,
|
|
-0.9051304459571838
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 40,
|
|
"position_m": [
|
|
0.28686225813482924,
|
|
-0.34583267596922235,
|
|
0.20744042308763122
|
|
],
|
|
"position_mm": [
|
|
286.86225813482923,
|
|
-345.83267596922235,
|
|
207.44042308763122
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
-0.4224220616915755,
|
|
0.0,
|
|
-0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.29260991488520327,
|
|
-0.362217036335718,
|
|
0.18952846793469363
|
|
],
|
|
"position_mm": [
|
|
292.6099148852033,
|
|
-362.217036335718,
|
|
189.52846793469362
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 44,
|
|
"position_m": [
|
|
0.3182890749500897,
|
|
-0.29044341581623145,
|
|
0.18654855053814035
|
|
],
|
|
"position_mm": [
|
|
318.2890749500897,
|
|
-290.44341581623144,
|
|
186.54855053814035
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
-0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.5347331111753162,
|
|
0.18250577172902288,
|
|
-0.028212702327385854
|
|
],
|
|
"position_mm": [
|
|
534.7331111753161,
|
|
182.50577172902288,
|
|
-28.212702327385855
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6873634134732957,
|
|
-0.3186227470193408,
|
|
-0.027288416839836564
|
|
],
|
|
"position_mm": [
|
|
687.3634134732956,
|
|
-318.6227470193408,
|
|
-27.288416839836565
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 50,
|
|
"position_m": [
|
|
0.5710606293569248,
|
|
0.21025136806439673,
|
|
-0.026524156620634374
|
|
],
|
|
"position_mm": [
|
|
571.0606293569248,
|
|
210.25136806439673,
|
|
-26.524156620634376
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16825330925448503,
|
|
-0.1730505551932898,
|
|
-0.027810627955661638
|
|
],
|
|
"position_mm": [
|
|
168.25330925448503,
|
|
-173.0505551932898,
|
|
-27.810627955661637
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.4883696819408336,
|
|
0.2145456154393972,
|
|
-0.02762118417615566
|
|
],
|
|
"position_mm": [
|
|
488.3696819408336,
|
|
214.5456154393972,
|
|
-27.62118417615566
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.5003669476587207,
|
|
0.16515992069171329,
|
|
-0.0284057135795896
|
|
],
|
|
"position_mm": [
|
|
500.3669476587207,
|
|
165.1599206917133,
|
|
-28.4057135795896
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.04738637896256922,
|
|
-0.21644433959696477,
|
|
-0.027094665623593195
|
|
],
|
|
"position_mm": [
|
|
47.38637896256922,
|
|
-216.44433959696477,
|
|
-27.094665623593194
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6277898049442017,
|
|
-0.2768737816177446,
|
|
-0.02735659682697853
|
|
],
|
|
"position_mm": [
|
|
627.7898049442017,
|
|
-276.8737816177446,
|
|
-27.35659682697853
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"position_m": [
|
|
-0.021202819493246525,
|
|
0.3320593549210218,
|
|
-0.025022778760048794
|
|
],
|
|
"position_mm": [
|
|
-21.202819493246526,
|
|
332.0593549210218,
|
|
-25.022778760048794
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40206820038251445,
|
|
-0.17303009105874156,
|
|
-0.027780403122080417
|
|
],
|
|
"position_mm": [
|
|
402.0682003825145,
|
|
-173.03009105874156,
|
|
-27.78040312208042
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7750100155602909,
|
|
-0.23674575906182768,
|
|
-0.027288591944071152
|
|
],
|
|
"position_mm": [
|
|
775.0100155602909,
|
|
-236.74575906182767,
|
|
-27.28859194407115
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.01908725997429324,
|
|
-0.18914964490727934,
|
|
-0.026732041255778674
|
|
],
|
|
"position_mm": [
|
|
-19.08725997429324,
|
|
-189.14964490727934,
|
|
-26.732041255778675
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"position_m": [
|
|
0.5754755640603275,
|
|
0.17390770664552277,
|
|
-0.028275131752925432
|
|
],
|
|
"position_mm": [
|
|
575.4755640603275,
|
|
173.90770664552278,
|
|
-28.275131752925432
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.006135339548626465,
|
|
-0.27758473003891476,
|
|
-0.02779656538733472
|
|
],
|
|
"position_mm": [
|
|
6.135339548626464,
|
|
-277.58473003891476,
|
|
-27.79656538733472
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"position_m": [
|
|
0.7515455997278438,
|
|
-0.28555846020621334,
|
|
-0.027179522830430295
|
|
],
|
|
"position_mm": [
|
|
751.5455997278439,
|
|
-285.55846020621334,
|
|
-27.179522830430294
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.44162138521004435,
|
|
0.19357377259281408,
|
|
-0.027993956345702835
|
|
],
|
|
"position_mm": [
|
|
441.62138521004437,
|
|
193.5737725928141,
|
|
-27.993956345702834
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.311554884488572,
|
|
-0.15940299983146633,
|
|
-0.027833018154202874
|
|
],
|
|
"position_mm": [
|
|
311.554884488572,
|
|
-159.40299983146633,
|
|
-27.833018154202875
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5071597507422316,
|
|
-0.3138254214309196,
|
|
-0.02809673552305244
|
|
],
|
|
"position_mm": [
|
|
507.1597507422316,
|
|
-313.8254214309196,
|
|
-28.096735523052438
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.36192355528513137,
|
|
0.29491911187012515,
|
|
-0.02676812437772893
|
|
],
|
|
"position_mm": [
|
|
361.9235552851314,
|
|
294.91911187012516,
|
|
-26.768124377728927
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3717652521986212,
|
|
-0.18417512346284748,
|
|
-0.027882655667711767
|
|
],
|
|
"position_mm": [
|
|
371.7652521986212,
|
|
-184.17512346284747,
|
|
-27.882655667711767
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6517722261223926,
|
|
-0.22363598369014656,
|
|
-0.028224115512018543
|
|
],
|
|
"position_mm": [
|
|
651.7722261223926,
|
|
-223.63598369014656,
|
|
-28.224115512018543
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10494057172281526,
|
|
-0.19069124726768588,
|
|
-0.027398503755863078
|
|
],
|
|
"position_mm": [
|
|
104.94057172281526,
|
|
-190.6912472676859,
|
|
-27.39850375586308
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"position_m": [
|
|
0.5228071873209807,
|
|
-0.26814334651726585,
|
|
-0.027922962879154377
|
|
],
|
|
"position_mm": [
|
|
522.8071873209808,
|
|
-268.14334651726585,
|
|
-27.922962879154376
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 114,
|
|
"position_m": [
|
|
0.28076186061776937,
|
|
-0.23510870161893,
|
|
0.22058035689677385
|
|
],
|
|
"position_mm": [
|
|
280.76186061776934,
|
|
-235.10870161892998,
|
|
220.58035689677385
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 120,
|
|
"position_m": [
|
|
0.2821269184515216,
|
|
-0.16845607195181456,
|
|
0.24457648300838922
|
|
],
|
|
"position_mm": [
|
|
282.1269184515216,
|
|
-168.45607195181455,
|
|
244.5764830083892
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"position_m": [
|
|
0.752974098467309,
|
|
-0.0902065922431702,
|
|
-0.00029078202387706076
|
|
],
|
|
"position_mm": [
|
|
752.974098467309,
|
|
-90.20659224317019,
|
|
-0.29078202387706076
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.3525780721541163,
|
|
-0.08955048616686932,
|
|
9.667284602991047e-05
|
|
],
|
|
"position_mm": [
|
|
352.5780721541163,
|
|
-89.55048616686932,
|
|
0.09667284602991047
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.022198159025974756,
|
|
-0.02065174706594371,
|
|
0.0012682406472606855
|
|
],
|
|
"position_mm": [
|
|
22.198159025974757,
|
|
-20.65174706594371,
|
|
1.2682406472606855
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.6471543572461015,
|
|
-0.08908868757167286,
|
|
-0.0005699335876271564
|
|
],
|
|
"position_mm": [
|
|
647.1543572461015,
|
|
-89.08868757167286,
|
|
-0.5699335876271564
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"position_m": [
|
|
0.2512581542473635,
|
|
-0.16723478998946542,
|
|
0.24098256827048528
|
|
],
|
|
"position_mm": [
|
|
251.25815424736348,
|
|
-167.2347899894654,
|
|
240.98256827048527
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"position_m": [
|
|
0.2545471181813018,
|
|
-0.2701209362340864,
|
|
0.20519821450128892
|
|
],
|
|
"position_mm": [
|
|
254.5471181813018,
|
|
-270.1209362340864,
|
|
205.19821450128893
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 231,
|
|
"position_m": [
|
|
0.26862007263314935,
|
|
-0.03365556781645834,
|
|
0.2823078685828343
|
|
],
|
|
"position_mm": [
|
|
268.62007263314933,
|
|
-33.655567816458344,
|
|
282.3078685828343
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.18058908526687434,
|
|
-0.07570732119135311,
|
|
0.27698843281070856
|
|
],
|
|
"position_mm": [
|
|
180.58908526687435,
|
|
-75.7073211913531,
|
|
276.98843281070856
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"position_m": [
|
|
0.27083758119970663,
|
|
-0.06545932478172217,
|
|
0.28423485590429115
|
|
],
|
|
"position_mm": [
|
|
270.8375811997066,
|
|
-65.45932478172217,
|
|
284.2348559042911
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"position_m": [
|
|
0.23232536603631126,
|
|
-0.05976834346824482,
|
|
0.2864137031690955
|
|
],
|
|
"position_mm": [
|
|
232.32536603631127,
|
|
-59.76834346824482,
|
|
286.41370316909547
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
}
|
|
]
|
|
} |