674 lines
13 KiB
JSON
674 lines
13 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-02T22:54:11Z",
|
|
"summary": {
|
|
"num_cameras": 5,
|
|
"num_markers": 30,
|
|
"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": "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": "e",
|
|
"position_m": [
|
|
1.2059563341749637,
|
|
-0.9025538118437437,
|
|
0.4061715893081437
|
|
],
|
|
"position_mm": [
|
|
1205.9563341749638,
|
|
-902.5538118437437,
|
|
406.17158930814367
|
|
],
|
|
"direction": [
|
|
-0.750444233417511,
|
|
0.60433429479599,
|
|
-0.2676071226596832
|
|
]
|
|
},
|
|
{
|
|
"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": [
|
|
0.29260991488520327,
|
|
-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": [
|
|
0.31707179509844935,
|
|
-0.2900198326070108,
|
|
0.18846824756295633
|
|
],
|
|
"position_mm": [
|
|
317.07179509844934,
|
|
-290.0198326070108,
|
|
188.46824756295632
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
-0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6873149931961275,
|
|
-0.3186271230120648,
|
|
-0.02732199681374294
|
|
],
|
|
"position_mm": [
|
|
687.3149931961275,
|
|
-318.6271230120648,
|
|
-27.32199681374294
|
|
],
|
|
"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": [
|
|
0.16797314355380552,
|
|
-0.17330807005830653,
|
|
-0.027679025490441215
|
|
],
|
|
"position_mm": [
|
|
167.97314355380553,
|
|
-173.30807005830653,
|
|
-27.679025490441216
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.04730219629824611,
|
|
-0.21640654465955123,
|
|
-0.027245793863314424
|
|
],
|
|
"position_mm": [
|
|
47.302196298246116,
|
|
-216.40654465955123,
|
|
-27.245793863314425
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6276443103328568,
|
|
-0.2772100308186336,
|
|
-0.027108697086914154
|
|
],
|
|
"position_mm": [
|
|
627.6443103328569,
|
|
-277.2100308186336,
|
|
-27.108697086914155
|
|
],
|
|
"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": [
|
|
0.4015562002827398,
|
|
-0.17346661653745038,
|
|
-0.027343972385601885
|
|
],
|
|
"position_mm": [
|
|
401.5562002827398,
|
|
-173.4666165374504,
|
|
-27.343972385601884
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7752842905475349,
|
|
-0.23621299064063236,
|
|
-0.027949446096684174
|
|
],
|
|
"position_mm": [
|
|
775.2842905475349,
|
|
-236.21299064063237,
|
|
-27.949446096684174
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.01917565320759719,
|
|
-0.18904378769683744,
|
|
-0.026948624762763468
|
|
],
|
|
"position_mm": [
|
|
-19.17565320759719,
|
|
-189.04378769683743,
|
|
-26.94862476276347
|
|
],
|
|
"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": 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": [
|
|
0.506759142707778,
|
|
-0.31498046905385435,
|
|
-0.026413328475015995
|
|
],
|
|
"position_mm": [
|
|
506.759142707778,
|
|
-314.98046905385434,
|
|
-26.413328475015994
|
|
],
|
|
"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": [
|
|
0.6514084070351718,
|
|
-0.22409597723542132,
|
|
-0.02747363126019338
|
|
],
|
|
"position_mm": [
|
|
651.4084070351718,
|
|
-224.09597723542132,
|
|
-27.47363126019338
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10473372622929926,
|
|
-0.19055968657100034,
|
|
-0.027559703258342172
|
|
],
|
|
"position_mm": [
|
|
104.73372622929926,
|
|
-190.55968657100033,
|
|
-27.55970325834217
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 114,
|
|
"position_m": [
|
|
0.278591128093189,
|
|
-0.23684222292292853,
|
|
0.22329870306478627
|
|
],
|
|
"position_mm": [
|
|
278.59112809318896,
|
|
-236.84222292292853,
|
|
223.29870306478628
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 115,
|
|
"position_m": [
|
|
0.30988059531989065,
|
|
-0.226938330794401,
|
|
0.18116972366956288
|
|
],
|
|
"position_mm": [
|
|
309.88059531989063,
|
|
-226.938330794401,
|
|
181.16972366956287
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 120,
|
|
"position_m": [
|
|
0.28124324375191917,
|
|
-0.17137785669337852,
|
|
0.2459742682159477
|
|
],
|
|
"position_mm": [
|
|
281.2432437519192,
|
|
-171.3778566933785,
|
|
245.9742682159477
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6506767885373685,
|
|
-0.00953112923100953,
|
|
-0.00022459348455411003
|
|
],
|
|
"position_mm": [
|
|
650.6767885373686,
|
|
-9.53112923100953,
|
|
-0.22459348455411005
|
|
],
|
|
"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": 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": 218,
|
|
"position_m": [
|
|
0.25047241777236834,
|
|
-0.1701860057402171,
|
|
0.24236237288465612
|
|
],
|
|
"position_mm": [
|
|
250.47241777236835,
|
|
-170.1860057402171,
|
|
242.3623728846561
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"position_m": [
|
|
0.253550064614868,
|
|
-0.2721393248642031,
|
|
0.2064242936189933
|
|
],
|
|
"position_mm": [
|
|
253.550064614868,
|
|
-272.1393248642031,
|
|
206.42429361899332
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.24305421924242962,
|
|
0.051609256475355025,
|
|
0.047990556541847564
|
|
],
|
|
"position_mm": [
|
|
243.0542192424296,
|
|
51.609256475355025,
|
|
47.99055654184756
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"position_m": [
|
|
0.3061753925114399,
|
|
-0.05048735239164153,
|
|
0.25572509743617433
|
|
],
|
|
"position_mm": [
|
|
306.1753925114399,
|
|
-50.48735239164153,
|
|
255.72509743617434
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"position_m": [
|
|
0.26968585887163876,
|
|
-0.06922587540967794,
|
|
0.2857228209980272
|
|
],
|
|
"position_mm": [
|
|
269.68585887163874,
|
|
-69.22587540967794,
|
|
285.7228209980272
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"position_m": [
|
|
0.2314766185707354,
|
|
-0.06339277409454731,
|
|
0.28779374384890527
|
|
],
|
|
"position_mm": [
|
|
231.4766185707354,
|
|
-63.39277409454731,
|
|
287.79374384890525
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
}
|
|
]
|
|
} |