957 lines
18 KiB
JSON
957 lines
18 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-02T22:54:45Z",
|
|
"summary": {
|
|
"num_cameras": 6,
|
|
"num_markers": 44,
|
|
"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
|
|
]
|
|
},
|
|
{
|
|
"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": [
|
|
0.28669354807901987,
|
|
-0.34645887677036646,
|
|
0.2061202879097665
|
|
],
|
|
"position_mm": [
|
|
286.6935480790199,
|
|
-346.4588767703665,
|
|
206.1202879097665
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
-0.4224220616915755,
|
|
0.0,
|
|
-0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.29241511885718824,
|
|
-0.36200036828163085,
|
|
0.1894545746008245
|
|
],
|
|
"position_mm": [
|
|
292.41511885718825,
|
|
-362.00036828163087,
|
|
189.4545746008245
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 44,
|
|
"position_m": [
|
|
0.3200226211027106,
|
|
-0.28971241351003135,
|
|
0.18681362437957605
|
|
],
|
|
"position_mm": [
|
|
320.0226211027106,
|
|
-289.71241351003135,
|
|
186.81362437957605
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
-0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.5366345122634825,
|
|
0.18331697833185862,
|
|
-0.03205269856695931
|
|
],
|
|
"position_mm": [
|
|
536.6345122634825,
|
|
183.31697833185862,
|
|
-32.05269856695931
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6879568180307063,
|
|
-0.31916516778446263,
|
|
-0.02695814059548786
|
|
],
|
|
"position_mm": [
|
|
687.9568180307062,
|
|
-319.16516778446265,
|
|
-26.95814059548786
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 50,
|
|
"position_m": [
|
|
0.5720134113766051,
|
|
0.2146088629721791,
|
|
-0.02884471768895406
|
|
],
|
|
"position_mm": [
|
|
572.0134113766051,
|
|
214.6088629721791,
|
|
-28.84471768895406
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16805170492292448,
|
|
-0.17369423750804236,
|
|
-0.027267276659619945
|
|
],
|
|
"position_mm": [
|
|
168.05170492292447,
|
|
-173.69423750804236,
|
|
-27.267276659619945
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.48779856794704296,
|
|
0.2111349702794888,
|
|
-0.024212653135178407
|
|
],
|
|
"position_mm": [
|
|
487.79856794704295,
|
|
211.1349702794888,
|
|
-24.212653135178407
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.49866231862240706,
|
|
0.1672289060732446,
|
|
-0.026875969116955122
|
|
],
|
|
"position_mm": [
|
|
498.66231862240704,
|
|
167.2289060732446,
|
|
-26.875969116955122
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 57,
|
|
"position_m": [
|
|
0.6025510873751728,
|
|
-0.3630104751115401,
|
|
-0.02828579884061131
|
|
],
|
|
"position_mm": [
|
|
602.5510873751729,
|
|
-363.01047511154013,
|
|
-28.28579884061131
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.04919421241511903,
|
|
-0.21754114356087942,
|
|
-0.026364759264626923
|
|
],
|
|
"position_mm": [
|
|
49.19421241511903,
|
|
-217.54114356087942,
|
|
-26.364759264626922
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6252509949215528,
|
|
-0.27753801285972757,
|
|
-0.027580109590806045
|
|
],
|
|
"position_mm": [
|
|
625.2509949215528,
|
|
-277.5380128597276,
|
|
-27.580109590806046
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"position_m": [
|
|
-0.021195287165675855,
|
|
0.3320585322613572,
|
|
-0.02502623078226827
|
|
],
|
|
"position_mm": [
|
|
-21.195287165675854,
|
|
332.0585322613572,
|
|
-25.02623078226827
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40436089133238273,
|
|
-0.1743927174823462,
|
|
-0.02675701499302678
|
|
],
|
|
"position_mm": [
|
|
404.3608913323827,
|
|
-174.3927174823462,
|
|
-26.757014993026782
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7754385465135418,
|
|
-0.23636468664352553,
|
|
-0.02769468018851873
|
|
],
|
|
"position_mm": [
|
|
775.4385465135418,
|
|
-236.36468664352552,
|
|
-27.69468018851873
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.021788372086115542,
|
|
-0.18688479509369893,
|
|
-0.0289528092217789
|
|
],
|
|
"position_mm": [
|
|
-21.78837208611554,
|
|
-186.88479509369893,
|
|
-28.9528092217789
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"position_m": [
|
|
0.5749799556732129,
|
|
0.1735263719948768,
|
|
-0.02722651367492304
|
|
],
|
|
"position_mm": [
|
|
574.9799556732129,
|
|
173.5263719948768,
|
|
-27.226513674923037
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.004907585765974491,
|
|
-0.2793744458344358,
|
|
-0.0275750490508713
|
|
],
|
|
"position_mm": [
|
|
4.907585765974491,
|
|
-279.37444583443585,
|
|
-27.5750490508713
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"position_m": [
|
|
0.750961425720043,
|
|
-0.2859068948629049,
|
|
-0.0264528587071229
|
|
],
|
|
"position_mm": [
|
|
750.9614257200429,
|
|
-285.9068948629049,
|
|
-26.4528587071229
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.44249640860195605,
|
|
0.19398141997597904,
|
|
-0.029015373458880736
|
|
],
|
|
"position_mm": [
|
|
442.49640860195603,
|
|
193.98141997597904,
|
|
-29.015373458880735
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.312457047239519,
|
|
-0.15834911707566937,
|
|
-0.028004772021254516
|
|
],
|
|
"position_mm": [
|
|
312.457047239519,
|
|
-158.34911707566937,
|
|
-28.004772021254517
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5065140346426683,
|
|
-0.3141927879268169,
|
|
-0.02702960993006866
|
|
],
|
|
"position_mm": [
|
|
506.5140346426683,
|
|
-314.1927879268169,
|
|
-27.02960993006866
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.3618571572029026,
|
|
0.29489757798596383,
|
|
-0.026799685719178273
|
|
],
|
|
"position_mm": [
|
|
361.8571572029026,
|
|
294.89757798596384,
|
|
-26.79968571917827
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.1866308189501922,
|
|
-0.2756225880649624,
|
|
-0.027563673098255775
|
|
],
|
|
"position_mm": [
|
|
186.6308189501922,
|
|
-275.62258806496243,
|
|
-27.563673098255776
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.36961518967551743,
|
|
-0.18632596854269062,
|
|
-0.02635781196684534
|
|
],
|
|
"position_mm": [
|
|
369.61518967551746,
|
|
-186.32596854269062,
|
|
-26.357811966845343
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6512937331034362,
|
|
-0.22293928551665906,
|
|
-0.027929981581454627
|
|
],
|
|
"position_mm": [
|
|
651.2937331034362,
|
|
-222.93928551665906,
|
|
-27.929981581454626
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10600803676986399,
|
|
-0.18948715002105015,
|
|
-0.028063750610933844
|
|
],
|
|
"position_mm": [
|
|
106.00803676986399,
|
|
-189.48715002105016,
|
|
-28.063750610933845
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"position_m": [
|
|
0.5237212990573751,
|
|
-0.2665286936961864,
|
|
-0.029212187818770507
|
|
],
|
|
"position_mm": [
|
|
523.7212990573751,
|
|
-266.52869369618645,
|
|
-29.212187818770506
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 114,
|
|
"position_m": [
|
|
0.2810303996162419,
|
|
-0.23551962182813754,
|
|
0.22092411773970175
|
|
],
|
|
"position_mm": [
|
|
281.0303996162419,
|
|
-235.51962182813753,
|
|
220.92411773970176
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 115,
|
|
"position_m": [
|
|
0.30989660996013435,
|
|
-0.22770795570205368,
|
|
0.1814782019380919
|
|
],
|
|
"position_mm": [
|
|
309.89660996013436,
|
|
-227.70795570205368,
|
|
181.4782019380919
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 120,
|
|
"position_m": [
|
|
0.28086485964928115,
|
|
-0.16957120140452087,
|
|
0.2443931481782058
|
|
],
|
|
"position_mm": [
|
|
280.86485964928113,
|
|
-169.57120140452088,
|
|
244.3931481782058
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"position_m": [
|
|
0.7529775739980634,
|
|
-0.0902052780237319,
|
|
-0.0002881239348000093
|
|
],
|
|
"position_mm": [
|
|
752.9775739980635,
|
|
-90.2052780237319,
|
|
-0.2881239348000093
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6506777202238514,
|
|
-0.009276767878803837,
|
|
-0.0002456608864140003
|
|
],
|
|
"position_mm": [
|
|
650.6777202238515,
|
|
-9.276767878803836,
|
|
-0.24566088641400027
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.3527609481086989,
|
|
-0.09159858609891029,
|
|
0.0016467693978487105
|
|
],
|
|
"position_mm": [
|
|
352.7609481086989,
|
|
-91.59858609891029,
|
|
1.6467693978487106
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.02202955974245413,
|
|
-0.01967438653152012,
|
|
0.0008292191206449601
|
|
],
|
|
"position_mm": [
|
|
22.02955974245413,
|
|
-19.67438653152012,
|
|
0.8292191206449602
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.34748634654998534,
|
|
-0.011775550001252228,
|
|
0.0009690602158419973
|
|
],
|
|
"position_mm": [
|
|
347.48634654998534,
|
|
-11.775550001252228,
|
|
0.9690602158419973
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.6471181489727281,
|
|
-0.08919722060131487,
|
|
-0.0004701296673708316
|
|
],
|
|
"position_mm": [
|
|
647.1181489727281,
|
|
-89.19722060131487,
|
|
-0.4701296673708316
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"position_m": [
|
|
0.25418029556909355,
|
|
-0.1694297000127342,
|
|
0.2420352826192499
|
|
],
|
|
"position_mm": [
|
|
254.18029556909354,
|
|
-169.4297000127342,
|
|
242.0352826192499
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"position_m": [
|
|
0.2549573227354037,
|
|
-0.26975699043426526,
|
|
0.20560643413107188
|
|
],
|
|
"position_mm": [
|
|
254.95732273540372,
|
|
-269.7569904342653,
|
|
205.6064341310719
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 231,
|
|
"position_m": [
|
|
0.26885656249030515,
|
|
-0.03711745763196101,
|
|
0.28324735204831
|
|
],
|
|
"position_mm": [
|
|
268.8565624903051,
|
|
-37.11745763196101,
|
|
283.24735204830995
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.1815187326367787,
|
|
-0.038591579723453825,
|
|
0.2511638832995194
|
|
],
|
|
"position_mm": [
|
|
181.5187326367787,
|
|
-38.591579723453826,
|
|
251.1638832995194
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"position_m": [
|
|
0.31009471069727323,
|
|
-0.05757100604301026,
|
|
0.25664773352281467
|
|
],
|
|
"position_mm": [
|
|
310.09471069727323,
|
|
-57.571006043010264,
|
|
256.6477335228147
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"position_m": [
|
|
0.26927686820553687,
|
|
-0.06389440045990166,
|
|
0.28392265547064177
|
|
],
|
|
"position_mm": [
|
|
269.27686820553686,
|
|
-63.89440045990166,
|
|
283.92265547064176
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"position_m": [
|
|
0.23190198972728376,
|
|
-0.06181075464173516,
|
|
0.2861656127411761
|
|
],
|
|
"position_mm": [
|
|
231.90198972728376,
|
|
-61.81075464173516,
|
|
286.16561274117606
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
}
|
|
]
|
|
} |