314 lines
5.8 KiB
JSON
314 lines
5.8 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-02T23:00:05Z",
|
|
"summary": {
|
|
"num_cameras": 3,
|
|
"num_markers": 13,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "d",
|
|
"position_m": [
|
|
0.7054014679839464,
|
|
-0.7919478105063438,
|
|
0.3967113315257853
|
|
],
|
|
"position_mm": [
|
|
705.4014679839464,
|
|
-791.9478105063438,
|
|
396.7113315257853
|
|
],
|
|
"direction": [
|
|
-0.5578631162643433,
|
|
0.781220555305481,
|
|
-0.28014856576919556
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "e",
|
|
"position_m": [
|
|
1.2003205157992303,
|
|
-0.9051194632262202,
|
|
0.40226793640946296
|
|
],
|
|
"position_mm": [
|
|
1200.3205157992302,
|
|
-905.1194632262202,
|
|
402.26793640946295
|
|
],
|
|
"direction": [
|
|
-0.7470906376838684,
|
|
0.6093959212303162,
|
|
-0.26550355553627014
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "g",
|
|
"position_m": [
|
|
-0.20541655013425003,
|
|
0.20379753805366085,
|
|
1.3985639899421838
|
|
],
|
|
"position_mm": [
|
|
-205.41655013425003,
|
|
203.79753805366084,
|
|
1398.5639899421838
|
|
],
|
|
"direction": [
|
|
0.2998085618019104,
|
|
-0.2990388870239258,
|
|
-0.9059197306632996
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.3395637510240406,
|
|
-0.3276294919461642,
|
|
-0.027367242771557266
|
|
],
|
|
"position_mm": [
|
|
339.56375102404064,
|
|
-327.6294919461642,
|
|
-27.367242771557265
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.018474123851813653,
|
|
-0.1897045125747497,
|
|
-0.02700029054077623
|
|
],
|
|
"position_mm": [
|
|
-18.47412385181365,
|
|
-189.7045125747497,
|
|
-27.00029054077623
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.00669635039389504,
|
|
-0.27790054738121545,
|
|
-0.027401145069198996
|
|
],
|
|
"position_mm": [
|
|
6.69635039389504,
|
|
-277.90054738121546,
|
|
-27.401145069198996
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5065406211512715,
|
|
-0.3139253340265908,
|
|
-0.027147385250618498
|
|
],
|
|
"position_mm": [
|
|
506.5406211512715,
|
|
-313.9253340265908,
|
|
-27.1473852506185
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.1895945235608907,
|
|
-0.2781042072471377,
|
|
-0.025829529603160557
|
|
],
|
|
"position_mm": [
|
|
189.5945235608907,
|
|
-278.1042072471377,
|
|
-25.829529603160555
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6510034723826958,
|
|
-0.22343226912290787,
|
|
-0.02759997253421534
|
|
],
|
|
"position_mm": [
|
|
651.0034723826958,
|
|
-223.43226912290785,
|
|
-27.59997253421534
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10512593301728769,
|
|
-0.19103305700572643,
|
|
-0.027096756467358925
|
|
],
|
|
"position_mm": [
|
|
105.1259330172877,
|
|
-191.03305700572642,
|
|
-27.096756467358926
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.30831920944456576,
|
|
-0.11174593747075677,
|
|
0.327320166804087
|
|
],
|
|
"position_mm": [
|
|
308.31920944456573,
|
|
-111.74593747075677,
|
|
327.32016680408697
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.34506404727942674,
|
|
-0.006098781208965208,
|
|
-0.0016863739114987293
|
|
],
|
|
"position_mm": [
|
|
345.06404727942675,
|
|
-6.0987812089652085,
|
|
-1.6863739114987293
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.1931118187045395,
|
|
-0.16233737281763386,
|
|
0.154913634214669
|
|
],
|
|
"position_mm": [
|
|
193.1118187045395,
|
|
-162.33737281763385,
|
|
154.913634214669
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"position_m": [
|
|
0.31866518214085915,
|
|
-0.13006650098166156,
|
|
0.14395035460602262
|
|
],
|
|
"position_mm": [
|
|
318.66518214085914,
|
|
-130.06650098166156,
|
|
143.95035460602261
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.28298478212739825,
|
|
-0.16349745153136613,
|
|
0.1516499377850409
|
|
],
|
|
"position_mm": [
|
|
282.98478212739826,
|
|
-163.49745153136612,
|
|
151.64993778504092
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.2456345018135125,
|
|
-0.1601989988795466,
|
|
0.15107875347500221
|
|
],
|
|
"position_mm": [
|
|
245.63450181351251,
|
|
-160.19899887954662,
|
|
151.0787534750022
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |