673 lines
13 KiB
JSON
673 lines
13 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-02T22:54:12Z",
|
|
"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": [
|
|
0.292423902683581,
|
|
-0.3622179272337811,
|
|
0.18952723588296513
|
|
],
|
|
"position_mm": [
|
|
292.423902683581,
|
|
-362.2179272337811,
|
|
189.52723588296513
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 44,
|
|
"position_m": [
|
|
0.32002262110270185,
|
|
-0.28971241351099275,
|
|
0.18681362438026317
|
|
],
|
|
"position_mm": [
|
|
320.02262110270186,
|
|
-289.71241351099275,
|
|
186.81362438026318
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
-0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6885296444457507,
|
|
-0.32001294710714207,
|
|
-0.026285576443648633
|
|
],
|
|
"position_mm": [
|
|
688.5296444457507,
|
|
-320.01294710714205,
|
|
-26.285576443648633
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 50,
|
|
"position_m": [
|
|
0.5710545002010963,
|
|
0.21025313973702908,
|
|
-0.026524327215974045
|
|
],
|
|
"position_mm": [
|
|
571.0545002010963,
|
|
210.25313973702907,
|
|
-26.524327215974044
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.1678190142678709,
|
|
-0.17355010015388794,
|
|
-0.027386097538182937
|
|
],
|
|
"position_mm": [
|
|
167.8190142678709,
|
|
-173.55010015388794,
|
|
-27.386097538182938
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.048923551247838495,
|
|
-0.2172902630706426,
|
|
-0.02650712598211966
|
|
],
|
|
"position_mm": [
|
|
48.923551247838496,
|
|
-217.2902630706426,
|
|
-26.50712598211966
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6265728421522692,
|
|
-0.2772904829036347,
|
|
-0.027456389472277003
|
|
],
|
|
"position_mm": [
|
|
626.5728421522691,
|
|
-277.2904829036347,
|
|
-27.456389472277003
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"position_m": [
|
|
-0.02119528716669451,
|
|
0.33205853226328474,
|
|
-0.02502623078524726
|
|
],
|
|
"position_mm": [
|
|
-21.19528716669451,
|
|
332.05853226328475,
|
|
-25.02623078524726
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4032812288477795,
|
|
-0.17220274362235352,
|
|
-0.028209779148554482
|
|
],
|
|
"position_mm": [
|
|
403.2812288477795,
|
|
-172.20274362235352,
|
|
-28.20977914855448
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7753487754326611,
|
|
-0.23612405842245351,
|
|
-0.027868632042469747
|
|
],
|
|
"position_mm": [
|
|
775.3487754326611,
|
|
-236.12405842245352,
|
|
-27.86863204246975
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.021977021790081257,
|
|
-0.1864683216617902,
|
|
-0.029364282844814828
|
|
],
|
|
"position_mm": [
|
|
-21.977021790081256,
|
|
-186.46832166179018,
|
|
-29.364282844814827
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005106371259816287,
|
|
-0.2794635888496086,
|
|
-0.027322728752784537
|
|
],
|
|
"position_mm": [
|
|
5.106371259816287,
|
|
-279.4635888496086,
|
|
-27.32272875278454
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31258853918085805,
|
|
-0.15853864162684994,
|
|
-0.027851027196526698
|
|
],
|
|
"position_mm": [
|
|
312.58853918085805,
|
|
-158.53864162684994,
|
|
-27.851027196526697
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5067151453274431,
|
|
-0.3150589024959263,
|
|
-0.026460911490326578
|
|
],
|
|
"position_mm": [
|
|
506.7151453274431,
|
|
-315.05890249592625,
|
|
-26.460911490326577
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3696229941395846,
|
|
-0.1867456629359282,
|
|
-0.025874638484611766
|
|
],
|
|
"position_mm": [
|
|
369.6229941395846,
|
|
-186.7456629359282,
|
|
-25.874638484611765
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6507385363446415,
|
|
-0.22184720960649593,
|
|
-0.028651656061001004
|
|
],
|
|
"position_mm": [
|
|
650.7385363446415,
|
|
-221.84720960649594,
|
|
-28.651656061001002
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10576296558453123,
|
|
-0.1892907777127485,
|
|
-0.028250766586813178
|
|
],
|
|
"position_mm": [
|
|
105.76296558453123,
|
|
-189.29077771274848,
|
|
-28.250766586813178
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 114,
|
|
"position_m": [
|
|
0.2811976757054371,
|
|
-0.23576437760034077,
|
|
0.22102565457435167
|
|
],
|
|
"position_mm": [
|
|
281.19767570543706,
|
|
-235.76437760034077,
|
|
221.02565457435168
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 115,
|
|
"position_m": [
|
|
0.31000251898687653,
|
|
-0.2278654090490481,
|
|
0.1815522295234136
|
|
],
|
|
"position_mm": [
|
|
310.0025189868765,
|
|
-227.86540904904808,
|
|
181.5522295234136
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 120,
|
|
"position_m": [
|
|
0.28114652054842354,
|
|
-0.1698516634362051,
|
|
0.24459524342498548
|
|
],
|
|
"position_mm": [
|
|
281.14652054842355,
|
|
-169.85166343620511,
|
|
244.59524342498548
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6507336784859382,
|
|
-0.009466226449334278,
|
|
-0.00015106591424741592
|
|
],
|
|
"position_mm": [
|
|
650.7336784859382,
|
|
-9.466226449334277,
|
|
-0.15106591424741592
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.35275774898131423,
|
|
-0.09164343009893555,
|
|
0.0016568954603863916
|
|
],
|
|
"position_mm": [
|
|
352.75774898131425,
|
|
-91.64343009893555,
|
|
1.6568954603863917
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.021963158627996394,
|
|
-0.01933710895973445,
|
|
0.0006809786189573365
|
|
],
|
|
"position_mm": [
|
|
21.963158627996396,
|
|
-19.33710895973445,
|
|
0.6809786189573365
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.34750234502732275,
|
|
-0.011818992272181975,
|
|
0.0009952638190729732
|
|
],
|
|
"position_mm": [
|
|
347.50234502732275,
|
|
-11.818992272181974,
|
|
0.9952638190729732
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"position_m": [
|
|
0.2544391887921733,
|
|
-0.1708023976281821,
|
|
0.24273594432673531
|
|
],
|
|
"position_mm": [
|
|
254.4391887921733,
|
|
-170.80239762818212,
|
|
242.7359443267353
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"position_m": [
|
|
0.25503886013348287,
|
|
-0.26991923913792537,
|
|
0.20567003677064832
|
|
],
|
|
"position_mm": [
|
|
255.03886013348287,
|
|
-269.9192391379254,
|
|
205.67003677064832
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.17419177954819098,
|
|
-0.01456918751078767,
|
|
0.24197624475810248
|
|
],
|
|
"position_mm": [
|
|
174.191779548191,
|
|
-14.56918751078767,
|
|
241.97624475810247
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"position_m": [
|
|
0.3095449360928377,
|
|
-0.05785139719179031,
|
|
0.25703319002684477
|
|
],
|
|
"position_mm": [
|
|
309.5449360928377,
|
|
-57.85139719179031,
|
|
257.03319002684475
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"position_m": [
|
|
0.2697228673774789,
|
|
-0.06813025139419837,
|
|
0.2845750959580609
|
|
],
|
|
"position_mm": [
|
|
269.7228673774789,
|
|
-68.13025139419837,
|
|
284.5750959580609
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"position_m": [
|
|
0.2325964983033317,
|
|
-0.06327485614224543,
|
|
0.28665207897054634
|
|
],
|
|
"position_mm": [
|
|
232.5964983033317,
|
|
-63.274856142245426,
|
|
286.65207897054637
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
}
|
|
]
|
|
} |