597 lines
11 KiB
JSON
597 lines
11 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-02T22:57:46Z",
|
|
"summary": {
|
|
"num_cameras": 5,
|
|
"num_markers": 26,
|
|
"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": "b",
|
|
"position_m": [
|
|
0.3134536976647028,
|
|
-0.8923579484022319,
|
|
1.20507845611891
|
|
],
|
|
"position_mm": [
|
|
313.4536976647028,
|
|
-892.357948402232,
|
|
1205.07845611891
|
|
],
|
|
"direction": [
|
|
-0.0005159506108611822,
|
|
0.6220897436141968,
|
|
-0.7829457521438599
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "c",
|
|
"position_m": [
|
|
0.28752597698377347,
|
|
-0.9090323131522682,
|
|
0.39592483186863714
|
|
],
|
|
"position_mm": [
|
|
287.5259769837735,
|
|
-909.0323131522682,
|
|
395.9248318686371
|
|
],
|
|
"direction": [
|
|
-0.09462770819664001,
|
|
0.9521815180778503,
|
|
-0.29050973057746887
|
|
]
|
|
},
|
|
{
|
|
"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
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "g",
|
|
"position_m": [
|
|
-0.19511158023378877,
|
|
0.21807120467829932,
|
|
1.4054723322580496
|
|
],
|
|
"position_mm": [
|
|
-195.11158023378877,
|
|
218.07120467829932,
|
|
1405.4723322580496
|
|
],
|
|
"direction": [
|
|
0.29194176197052,
|
|
-0.3066600561141968,
|
|
-0.9059413075447083
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.37569236550289736,
|
|
-0.18539560020490442,
|
|
0.12766662890337738
|
|
],
|
|
"position_mm": [
|
|
375.69236550289736,
|
|
-185.3956002049044,
|
|
127.66662890337737
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.3303164254454692,
|
|
-0.15407088971919186,
|
|
0.13742174996739098
|
|
],
|
|
"position_mm": [
|
|
330.3164254454692,
|
|
-154.07088971919185,
|
|
137.42174996739098
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.5366468872488978,
|
|
0.1842736022399871,
|
|
-0.03241710068117239
|
|
],
|
|
"position_mm": [
|
|
536.6468872488978,
|
|
184.2736022399871,
|
|
-32.417100681172386
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.1679211422793372,
|
|
-0.17329956476907762,
|
|
-0.026863067333170197
|
|
],
|
|
"position_mm": [
|
|
167.92114227933718,
|
|
-173.29956476907762,
|
|
-26.863067333170196
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.4880354716291176,
|
|
0.21191556951667392,
|
|
-0.024248338721585192
|
|
],
|
|
"position_mm": [
|
|
488.0354716291176,
|
|
211.9155695166739,
|
|
-24.248338721585192
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.3400761839341204,
|
|
-0.3280060717807798,
|
|
-0.02686155063838345
|
|
],
|
|
"position_mm": [
|
|
340.0761839341204,
|
|
-328.0060717807798,
|
|
-26.861550638383452
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.4989352516723563,
|
|
0.16797717097728918,
|
|
-0.026110651995034637
|
|
],
|
|
"position_mm": [
|
|
498.9352516723563,
|
|
167.97717097728918,
|
|
-26.110651995034637
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.04937794766965125,
|
|
-0.21780071376252247,
|
|
-0.02281835819725648
|
|
],
|
|
"position_mm": [
|
|
49.37794766965125,
|
|
-217.80071376252246,
|
|
-22.81835819725648
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40267630883403416,
|
|
-0.173373262546969,
|
|
-0.027416088658359476
|
|
],
|
|
"position_mm": [
|
|
402.67630883403416,
|
|
-173.373262546969,
|
|
-27.416088658359477
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7749955935066042,
|
|
-0.2365825315039672,
|
|
-0.02734542924839509
|
|
],
|
|
"position_mm": [
|
|
774.9955935066042,
|
|
-236.5825315039672,
|
|
-27.34542924839509
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.021408631864574153,
|
|
-0.18774267144221315,
|
|
-0.03123412013508656
|
|
],
|
|
"position_mm": [
|
|
-21.408631864574154,
|
|
-187.74267144221315,
|
|
-31.23412013508656
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"position_m": [
|
|
0.21002120707648816,
|
|
-0.36378679985256973,
|
|
-0.02524732608806306
|
|
],
|
|
"position_mm": [
|
|
210.02120707648817,
|
|
-363.78679985256974,
|
|
-25.247326088063062
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"position_m": [
|
|
0.5749660450071863,
|
|
0.17393449410501516,
|
|
-0.028640172019540094
|
|
],
|
|
"position_mm": [
|
|
574.9660450071863,
|
|
173.93449410501515,
|
|
-28.640172019540092
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.004955266433253688,
|
|
-0.2791413641736898,
|
|
-0.02989686095205335
|
|
],
|
|
"position_mm": [
|
|
4.955266433253688,
|
|
-279.1413641736898,
|
|
-29.896860952053352
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.44276493309622217,
|
|
0.19480558569332057,
|
|
-0.029485031584668853
|
|
],
|
|
"position_mm": [
|
|
442.7649330962222,
|
|
194.80558569332058,
|
|
-29.485031584668853
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5068968475515663,
|
|
-0.313872765864593,
|
|
-0.028030145055408746
|
|
],
|
|
"position_mm": [
|
|
506.8968475515663,
|
|
-313.872765864593,
|
|
-28.030145055408745
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6520880739413853,
|
|
-0.22413240213389382,
|
|
-0.02744299723132889
|
|
],
|
|
"position_mm": [
|
|
652.0880739413853,
|
|
-224.13240213389383,
|
|
-27.44299723132889
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10612399320566039,
|
|
-0.19001828522469713,
|
|
-0.02789393536316767
|
|
],
|
|
"position_mm": [
|
|
106.1239932056604,
|
|
-190.01828522469714,
|
|
-27.89393536316767
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 122,
|
|
"position_m": [
|
|
0.3630100418896333,
|
|
-0.01869787480859017,
|
|
0.27751053360888517
|
|
],
|
|
"position_mm": [
|
|
363.0100418896333,
|
|
-18.69787480859017,
|
|
277.51053360888517
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"position_m": [
|
|
0.3643769047080899,
|
|
-0.11240415080052363,
|
|
0.21497628379869252
|
|
],
|
|
"position_mm": [
|
|
364.3769047080899,
|
|
-112.40415080052362,
|
|
214.97628379869252
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.020891556404639126,
|
|
-0.020476439035517484,
|
|
0.00037296723913847094
|
|
],
|
|
"position_mm": [
|
|
20.891556404639125,
|
|
-20.476439035517483,
|
|
0.37296723913847096
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.25205584081276616,
|
|
-0.008531857594050249,
|
|
-0.00031551726303184085
|
|
],
|
|
"position_mm": [
|
|
252.05584081276615,
|
|
-8.531857594050248,
|
|
-0.31551726303184086
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.2497670897001706,
|
|
-0.08849910222323172,
|
|
-0.0002895811221262395
|
|
],
|
|
"position_mm": [
|
|
249.7670897001706,
|
|
-88.49910222323172,
|
|
-0.2895811221262395
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 231,
|
|
"position_m": [
|
|
0.37655871036044636,
|
|
0.10272408504648294,
|
|
0.34928537990325953
|
|
],
|
|
"position_mm": [
|
|
376.55871036044636,
|
|
102.72408504648294,
|
|
349.2853799032595
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.28821054860949746,
|
|
0.08637149744640293,
|
|
0.3481902654426117
|
|
],
|
|
"position_mm": [
|
|
288.21054860949744,
|
|
86.37149744640294,
|
|
348.19026544261175
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"position_m": [
|
|
0.33941165896820175,
|
|
0.07480577135295471,
|
|
0.34376923541734816
|
|
],
|
|
"position_mm": [
|
|
339.4116589682017,
|
|
74.80577135295471,
|
|
343.76923541734817
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
}
|
|
]
|
|
} |