334 lines
6.3 KiB
JSON
334 lines
6.3 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-02T22:56:13Z",
|
|
"summary": {
|
|
"num_cameras": 3,
|
|
"num_markers": 14,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.29985778072375346,
|
|
-0.9015086886763308,
|
|
0.7085895420934379
|
|
],
|
|
"position_mm": [
|
|
-299.8577807237535,
|
|
-901.5086886763308,
|
|
708.5895420934379
|
|
],
|
|
"direction": [
|
|
0.46960189938545227,
|
|
0.7278991937637329,
|
|
-0.499636709690094
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "d",
|
|
"position_m": [
|
|
0.6979996741933059,
|
|
-0.7964402797652452,
|
|
0.3976766679364876
|
|
],
|
|
"position_mm": [
|
|
697.9996741933059,
|
|
-796.4402797652452,
|
|
397.6766679364876
|
|
],
|
|
"direction": [
|
|
-0.5500041842460632,
|
|
0.7863377332687378,
|
|
-0.28136876225471497
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "f",
|
|
"position_m": [
|
|
0.4760185441234359,
|
|
-0.29875310533250987,
|
|
1.4075692591478004
|
|
],
|
|
"position_mm": [
|
|
476.0185441234359,
|
|
-298.75310533250985,
|
|
1407.5692591478005
|
|
],
|
|
"direction": [
|
|
-0.2208399474620819,
|
|
0.08048706501722336,
|
|
-0.9719833135604858
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.3780544574806691,
|
|
-0.18503787752338205,
|
|
0.11827139608756085
|
|
],
|
|
"position_mm": [
|
|
378.0544574806691,
|
|
-185.03787752338204,
|
|
118.27139608756084
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.33227500196851345,
|
|
-0.15163311267812282,
|
|
0.1272717399491686
|
|
],
|
|
"position_mm": [
|
|
332.27500196851344,
|
|
-151.6331126781228,
|
|
127.2717399491686
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.047473912130069476,
|
|
-0.2164137847645435,
|
|
-0.027039547941433352
|
|
],
|
|
"position_mm": [
|
|
47.47391213006948,
|
|
-216.41378476454352,
|
|
-27.03954794143335
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40268144151957735,
|
|
-0.17333780635072812,
|
|
-0.027434362053574555
|
|
],
|
|
"position_mm": [
|
|
402.68144151957733,
|
|
-173.33780635072813,
|
|
-27.434362053574556
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.01855987546382948,
|
|
-0.18915820751146756,
|
|
-0.026954867487888334
|
|
],
|
|
"position_mm": [
|
|
-18.559875463829478,
|
|
-189.15820751146757,
|
|
-26.954867487888336
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.44122094824343644,
|
|
0.19448618546361632,
|
|
-0.02772677510263037
|
|
],
|
|
"position_mm": [
|
|
441.22094824343645,
|
|
194.48618546361632,
|
|
-27.72677510263037
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10496542285919527,
|
|
-0.19087979477701272,
|
|
-0.02700117054955171
|
|
],
|
|
"position_mm": [
|
|
104.96542285919527,
|
|
-190.87979477701273,
|
|
-27.001170549551713
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.4040106854438448,
|
|
-0.06631101215316983,
|
|
0.21910300327444907
|
|
],
|
|
"position_mm": [
|
|
404.01068544384475,
|
|
-66.31101215316983,
|
|
219.10300327444907
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 122,
|
|
"position_m": [
|
|
0.36116763666010226,
|
|
-0.01664836934179616,
|
|
0.2730446191144949
|
|
],
|
|
"position_mm": [
|
|
361.1676366601023,
|
|
-16.648369341796162,
|
|
273.0446191144949
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"position_m": [
|
|
0.36533558640782793,
|
|
-0.11038101455359361,
|
|
0.20727625317063497
|
|
],
|
|
"position_mm": [
|
|
365.3355864078279,
|
|
-110.38101455359362,
|
|
207.27625317063496
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.021865118271445036,
|
|
-0.02024308019119754,
|
|
5.2236076379394826e-05
|
|
],
|
|
"position_mm": [
|
|
21.865118271445034,
|
|
-20.243080191197542,
|
|
0.05223607637939483
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.2521881792955411,
|
|
-0.008775981072706848,
|
|
-0.0007425662360636135
|
|
],
|
|
"position_mm": [
|
|
252.1881792955411,
|
|
-8.775981072706848,
|
|
-0.7425662360636135
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.25019444106402666,
|
|
-0.08856633444556297,
|
|
0.0001478578161201457
|
|
],
|
|
"position_mm": [
|
|
250.19444106402665,
|
|
-88.56633444556297,
|
|
0.1478578161201457
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 242,
|
|
"position_m": [
|
|
0.289520535858497,
|
|
0.05623949762455734,
|
|
0.30351740976751196
|
|
],
|
|
"position_mm": [
|
|
289.520535858497,
|
|
56.239497624557345,
|
|
303.51740976751194
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |