883 lines
17 KiB
JSON
883 lines
17 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-02T22:53:21Z",
|
|
"summary": {
|
|
"num_cameras": 5,
|
|
"num_markers": 41,
|
|
"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": "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": "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
|
|
]
|
|
},
|
|
{
|
|
"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": [
|
|
0.29237625142028434,
|
|
-0.36160276650370443,
|
|
0.1892798023398605
|
|
],
|
|
"position_mm": [
|
|
292.37625142028435,
|
|
-361.60276650370446,
|
|
189.2798023398605
|
|
],
|
|
"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": 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": [
|
|
0.16801559004697914,
|
|
-0.17308877137934892,
|
|
-0.02726538948462497
|
|
],
|
|
"position_mm": [
|
|
168.01559004697913,
|
|
-173.0887713793489,
|
|
-27.26538948462497
|
|
],
|
|
"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": 55,
|
|
"position_m": [
|
|
0.2844057794227306,
|
|
-0.2606132327772212,
|
|
-0.027546052925937082
|
|
],
|
|
"position_mm": [
|
|
284.4057794227306,
|
|
-260.6132327772212,
|
|
-27.546052925937083
|
|
],
|
|
"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": [
|
|
0.047551281683331725,
|
|
-0.21671598484374444,
|
|
-0.02757169990283164
|
|
],
|
|
"position_mm": [
|
|
47.55128168333172,
|
|
-216.71598484374442,
|
|
-27.57169990283164
|
|
],
|
|
"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": [
|
|
0.40206820038251445,
|
|
-0.17303009105874156,
|
|
-0.027780403122080417
|
|
],
|
|
"position_mm": [
|
|
402.0682003825145,
|
|
-173.03009105874156,
|
|
-27.78040312208042
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.01903830725822571,
|
|
-0.18973917171120316,
|
|
-0.027641221468454345
|
|
],
|
|
"position_mm": [
|
|
-19.03830725822571,
|
|
-189.73917171120317,
|
|
-27.641221468454344
|
|
],
|
|
"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": [
|
|
0.006063703203347682,
|
|
-0.27773056227296894,
|
|
-0.027662711638363226
|
|
],
|
|
"position_mm": [
|
|
6.063703203347682,
|
|
-277.73056227296894,
|
|
-27.662711638363227
|
|
],
|
|
"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": 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": [
|
|
0.311554884488572,
|
|
-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": [
|
|
0.5065160237318289,
|
|
-0.31347383015014474,
|
|
-0.02745698322454132
|
|
],
|
|
"position_mm": [
|
|
506.5160237318289,
|
|
-313.47383015014475,
|
|
-27.45698322454132
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6463669747542796,
|
|
-0.18684189552080452,
|
|
-0.027357160107897877
|
|
],
|
|
"position_mm": [
|
|
646.3669747542796,
|
|
-186.8418955208045,
|
|
-27.357160107897876
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18690854391431183,
|
|
-0.27615857466465754,
|
|
-0.027305174981793644
|
|
],
|
|
"position_mm": [
|
|
186.90854391431182,
|
|
-276.1585746646575,
|
|
-27.305174981793645
|
|
],
|
|
"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": 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": [
|
|
0.6518203642657345,
|
|
-0.22351239454684282,
|
|
-0.027941497880160374
|
|
],
|
|
"position_mm": [
|
|
651.8203642657345,
|
|
-223.5123945468428,
|
|
-27.941497880160373
|
|
],
|
|
"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": [
|
|
0.5223125089890643,
|
|
-0.2679254220082652,
|
|
-0.027296439600490444
|
|
],
|
|
"position_mm": [
|
|
522.3125089890643,
|
|
-267.9254220082652,
|
|
-27.296439600490444
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 114,
|
|
"position_m": [
|
|
0.28025296256508264,
|
|
-0.23472103706037212,
|
|
0.22055278817496832
|
|
],
|
|
"position_mm": [
|
|
280.25296256508267,
|
|
-234.7210370603721,
|
|
220.55278817496833
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 120,
|
|
"position_m": [
|
|
0.28141898783008606,
|
|
-0.16846686315201317,
|
|
0.24402696707528235
|
|
],
|
|
"position_mm": [
|
|
281.41898783008605,
|
|
-168.46686315201316,
|
|
244.02696707528236
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"position_m": [
|
|
0.7533487616396174,
|
|
-0.09038832036433068,
|
|
-0.0005655928891300161
|
|
],
|
|
"position_mm": [
|
|
753.3487616396174,
|
|
-90.38832036433068,
|
|
-0.5655928891300162
|
|
],
|
|
"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": 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": 215,
|
|
"position_m": [
|
|
0.2509200829820561,
|
|
-0.08745425698749158,
|
|
-0.0005765175295720739
|
|
],
|
|
"position_mm": [
|
|
250.9200829820561,
|
|
-87.45425698749158,
|
|
-0.5765175295720739
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.6468871604236177,
|
|
-0.08903039551867281,
|
|
-6.389204646100463e-05
|
|
],
|
|
"position_mm": [
|
|
646.8871604236177,
|
|
-89.0303955186728,
|
|
-0.06389204646100463
|
|
],
|
|
"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": [
|
|
0.1796752116930987,
|
|
-0.07631344342124426,
|
|
0.27561260135108584
|
|
],
|
|
"position_mm": [
|
|
179.6752116930987,
|
|
-76.31344342124426,
|
|
275.61260135108586
|
|
],
|
|
"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": [
|
|
0.23125360818182217,
|
|
-0.06022242773392541,
|
|
0.28525954202905435
|
|
],
|
|
"position_mm": [
|
|
231.25360818182216,
|
|
-60.22242773392541,
|
|
285.25954202905433
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
}
|
|
]
|
|
} |