542 lines
10 KiB
JSON
542 lines
10 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-02T22:59:51Z",
|
|
"summary": {
|
|
"num_cameras": 3,
|
|
"num_markers": 25,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "b",
|
|
"position_m": [
|
|
0.30449238671529855,
|
|
-0.8931909500442883,
|
|
1.2021616686917198
|
|
],
|
|
"position_mm": [
|
|
304.49238671529855,
|
|
-893.1909500442882,
|
|
1202.1616686917198
|
|
],
|
|
"direction": [
|
|
0.005216329824179411,
|
|
0.6232568621635437,
|
|
-0.7819998264312744
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "c",
|
|
"position_m": [
|
|
0.31702206513417014,
|
|
-0.9009856513305725,
|
|
0.39446443494699257
|
|
],
|
|
"position_mm": [
|
|
317.02206513417013,
|
|
-900.9856513305725,
|
|
394.4644349469926
|
|
],
|
|
"direction": [
|
|
-0.12359802424907684,
|
|
0.9488852620124817,
|
|
-0.29041391611099243
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "f",
|
|
"position_m": [
|
|
0.48085701508868617,
|
|
-0.3026928145345371,
|
|
1.4042255506450263
|
|
],
|
|
"position_mm": [
|
|
480.8570150886862,
|
|
-302.6928145345371,
|
|
1404.2255506450263
|
|
],
|
|
"direction": [
|
|
-0.22449733316898346,
|
|
0.08296965062618256,
|
|
-0.970936119556427
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 41,
|
|
"position_m": [
|
|
0.28458781358370905,
|
|
-0.08312955523363832,
|
|
0.44099400265038774
|
|
],
|
|
"position_mm": [
|
|
284.587813583709,
|
|
-83.12955523363833,
|
|
440.99400265038776
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.24826921748106096,
|
|
-0.08131835248216658,
|
|
0.4714228233276022
|
|
],
|
|
"position_mm": [
|
|
248.26921748106096,
|
|
-81.31835248216657,
|
|
471.4228233276022
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.279250544767031,
|
|
-0.05336678805578228,
|
|
0.454421428221779
|
|
],
|
|
"position_mm": [
|
|
279.250544767031,
|
|
-53.36678805578228,
|
|
454.421428221779
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.34404144603453324,
|
|
-0.2860145221170007,
|
|
-0.03213636713196651
|
|
],
|
|
"position_mm": [
|
|
344.04144603453324,
|
|
-286.0145221170007,
|
|
-32.136367131966516
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16818020976488351,
|
|
-0.17425315858958032,
|
|
-0.026881774686910203
|
|
],
|
|
"position_mm": [
|
|
168.18020976488353,
|
|
-174.25315858958032,
|
|
-26.8817746869102
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.48879743317073093,
|
|
0.21552001242403998,
|
|
-0.02884653414319397
|
|
],
|
|
"position_mm": [
|
|
488.7974331707309,
|
|
215.52001242403998,
|
|
-28.84653414319397
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.34025736873464146,
|
|
-0.3290648063904435,
|
|
-0.023384439978671782
|
|
],
|
|
"position_mm": [
|
|
340.2573687346415,
|
|
-329.0648063904435,
|
|
-23.384439978671782
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.04918691931925207,
|
|
-0.21787308203359243,
|
|
-0.02572070400074463
|
|
],
|
|
"position_mm": [
|
|
49.18691931925207,
|
|
-217.87308203359242,
|
|
-25.72070400074463
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40335745177323773,
|
|
-0.1704143775946597,
|
|
-0.030232994997902954
|
|
],
|
|
"position_mm": [
|
|
403.35745177323776,
|
|
-170.4143775946597,
|
|
-30.232994997902953
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.02155872320027308,
|
|
-0.18670100022557545,
|
|
-0.028619960568338564
|
|
],
|
|
"position_mm": [
|
|
-21.558723200273082,
|
|
-186.70100022557546,
|
|
-28.619960568338563
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.00576675613503367,
|
|
-0.28029571681164367,
|
|
-0.023658284617407488
|
|
],
|
|
"position_mm": [
|
|
5.76675613503367,
|
|
-280.2957168116437,
|
|
-23.65828461740749
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"position_m": [
|
|
-0.026370204233953348,
|
|
0.1912453621691059,
|
|
-0.02566621477507941
|
|
],
|
|
"position_mm": [
|
|
-26.37020423395335,
|
|
191.2453621691059,
|
|
-25.66621477507941
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3128721848215133,
|
|
-0.15943745663231312,
|
|
-0.02751225913004884
|
|
],
|
|
"position_mm": [
|
|
312.8721848215133,
|
|
-159.43745663231311,
|
|
-27.51225913004884
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18651078126215453,
|
|
-0.2762018245437403,
|
|
-0.029144533421805254
|
|
],
|
|
"position_mm": [
|
|
186.51078126215452,
|
|
-276.2018245437403,
|
|
-29.144533421805253
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.37052718085859365,
|
|
-0.18639098246124372,
|
|
-0.02614008454592628
|
|
],
|
|
"position_mm": [
|
|
370.5271808585936,
|
|
-186.3909824612437,
|
|
-26.140084545926282
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10616020089799394,
|
|
-0.1901476860126681,
|
|
-0.027477205296895135
|
|
],
|
|
"position_mm": [
|
|
106.16020089799395,
|
|
-190.1476860126681,
|
|
-27.477205296895136
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.31022919610334,
|
|
-0.10731224044592229,
|
|
0.3268785291570085
|
|
],
|
|
"position_mm": [
|
|
310.22919610334,
|
|
-107.31224044592228,
|
|
326.8785291570085
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.3517444608927459,
|
|
-0.09123695611773026,
|
|
0.0007169494492753243
|
|
],
|
|
"position_mm": [
|
|
351.7444608927459,
|
|
-91.23695611773026,
|
|
0.7169494492753243
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.02199990195456668,
|
|
-0.019067391317447734,
|
|
-0.0009086352060653729
|
|
],
|
|
"position_mm": [
|
|
21.99990195456668,
|
|
-19.067391317447733,
|
|
-0.9086352060653728
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3476655091405916,
|
|
-0.011342087608908823,
|
|
0.0003045216409041028
|
|
],
|
|
"position_mm": [
|
|
347.66550914059155,
|
|
-11.342087608908823,
|
|
0.30452164090410283
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.25122462661541717,
|
|
-0.09007721563575584,
|
|
0.0009127157392943366
|
|
],
|
|
"position_mm": [
|
|
251.22462661541718,
|
|
-90.07721563575583,
|
|
0.9127157392943366
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.18626588260302823,
|
|
-0.11567777486448404,
|
|
0.17865275737387676
|
|
],
|
|
"position_mm": [
|
|
186.26588260302825,
|
|
-115.67777486448404,
|
|
178.65275737387677
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.19248038394656358,
|
|
-0.15804365208717172,
|
|
0.15382291441965057
|
|
],
|
|
"position_mm": [
|
|
192.4803839465636,
|
|
-158.04365208717172,
|
|
153.82291441965057
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.2831139227889769,
|
|
-0.16325710392221393,
|
|
0.15119134713708096
|
|
],
|
|
"position_mm": [
|
|
283.1139227889769,
|
|
-163.25710392221393,
|
|
151.19134713708095
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.24741884873790043,
|
|
-0.15233037934927282,
|
|
0.14762626250107652
|
|
],
|
|
"position_mm": [
|
|
247.41884873790042,
|
|
-152.33037934927282,
|
|
147.62626250107652
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |