541 lines
10 KiB
JSON
541 lines
10 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-02T23:01:37Z",
|
|
"summary": {
|
|
"num_cameras": 4,
|
|
"num_markers": 24,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.29955195892720843,
|
|
-0.7973261061142631,
|
|
0.8018813702295133
|
|
],
|
|
"position_mm": [
|
|
-299.55195892720843,
|
|
-797.3261061142631,
|
|
801.8813702295133
|
|
],
|
|
"direction": [
|
|
0.47862082719802856,
|
|
0.6562461256980896,
|
|
-0.5833207368850708
|
|
]
|
|
},
|
|
{
|
|
"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": "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": 47,
|
|
"position_m": [
|
|
0.3442192817159681,
|
|
-0.28576089900291124,
|
|
-0.02872886829266516
|
|
],
|
|
"position_mm": [
|
|
344.2192817159681,
|
|
-285.76089900291123,
|
|
-28.72886829266516
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.1676229747052813,
|
|
-0.1741264906574076,
|
|
-0.026919146087343485
|
|
],
|
|
"position_mm": [
|
|
167.6229747052813,
|
|
-174.1264906574076,
|
|
-26.919146087343485
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.33911375333724336,
|
|
-0.32947736019576734,
|
|
-0.026075959858366086
|
|
],
|
|
"position_mm": [
|
|
339.11375333724334,
|
|
-329.47736019576735,
|
|
-26.075959858366087
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2841836351164091,
|
|
-0.2606812064397576,
|
|
-0.027222052531497475
|
|
],
|
|
"position_mm": [
|
|
284.1836351164091,
|
|
-260.6812064397576,
|
|
-27.222052531497475
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40350108816709573,
|
|
-0.17083301319129984,
|
|
-0.029121577302087427
|
|
],
|
|
"position_mm": [
|
|
403.50108816709576,
|
|
-170.83301319129984,
|
|
-29.121577302087427
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.019430184657843932,
|
|
-0.18912003882608275,
|
|
-0.02652602262001473
|
|
],
|
|
"position_mm": [
|
|
-19.43018465784393,
|
|
-189.12003882608275,
|
|
-26.52602262001473
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.4400675283070593,
|
|
0.19238427479417913,
|
|
-0.02643950876048983
|
|
],
|
|
"position_mm": [
|
|
440.0675283070593,
|
|
192.38427479417913,
|
|
-26.439508760489833
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31251117248106736,
|
|
-0.15870791590338082,
|
|
-0.02832507136522218
|
|
],
|
|
"position_mm": [
|
|
312.5111724810674,
|
|
-158.7079159033808,
|
|
-28.32507136522218
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5063140806627561,
|
|
-0.31366547482315726,
|
|
-0.0272150874274621
|
|
],
|
|
"position_mm": [
|
|
506.31408066275606,
|
|
-313.66547482315724,
|
|
-27.215087427462098
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.36037705346920745,
|
|
0.2932098187483894,
|
|
-0.025476208839552057
|
|
],
|
|
"position_mm": [
|
|
360.37705346920745,
|
|
293.2098187483894,
|
|
-25.476208839552058
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6463574813680275,
|
|
-0.1859402249489713,
|
|
-0.027746654395590407
|
|
],
|
|
"position_mm": [
|
|
646.3574813680275,
|
|
-185.9402249489713,
|
|
-27.746654395590408
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18648873037714836,
|
|
-0.27600100105412756,
|
|
-0.027491926855863442
|
|
],
|
|
"position_mm": [
|
|
186.48873037714836,
|
|
-276.0010010541276,
|
|
-27.491926855863444
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3700733376484654,
|
|
-0.18582040783630283,
|
|
-0.026330001152964685
|
|
],
|
|
"position_mm": [
|
|
370.0733376484654,
|
|
-185.82040783630282,
|
|
-26.330001152964684
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6513442364942265,
|
|
-0.2240496686613285,
|
|
-0.027363354065143702
|
|
],
|
|
"position_mm": [
|
|
651.3442364942265,
|
|
-224.0496686613285,
|
|
-27.363354065143703
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10560206500284754,
|
|
-0.19000922406880627,
|
|
-0.027706825495922422
|
|
],
|
|
"position_mm": [
|
|
105.60206500284754,
|
|
-190.00922406880628,
|
|
-27.706825495922423
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.3111717470834185,
|
|
-0.11409235776204583,
|
|
0.32856160846927895
|
|
],
|
|
"position_mm": [
|
|
311.1717470834185,
|
|
-114.09235776204584,
|
|
328.56160846927895
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.1906610222983578,
|
|
-0.030072064143645917,
|
|
0.14939467005312976
|
|
],
|
|
"position_mm": [
|
|
190.6610222983578,
|
|
-30.072064143645918,
|
|
149.39467005312974
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6509575595208459,
|
|
-0.009085584877046738,
|
|
4.360342461633276e-05
|
|
],
|
|
"position_mm": [
|
|
650.9575595208458,
|
|
-9.085584877046738,
|
|
0.04360342461633276
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.347471800735466,
|
|
-0.00852251597181924,
|
|
-0.0005493631865509558
|
|
],
|
|
"position_mm": [
|
|
347.471800735466,
|
|
-8.522515971819239,
|
|
-0.5493631865509557
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.25111236682191473,
|
|
-0.08916473734436182,
|
|
0.00019123733453760213
|
|
],
|
|
"position_mm": [
|
|
251.11236682191475,
|
|
-89.16473734436182,
|
|
0.19123733453760214
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"position_m": [
|
|
0.26783100399244564,
|
|
-0.13327168140669968,
|
|
0.2617856383732501
|
|
],
|
|
"position_mm": [
|
|
267.83100399244563,
|
|
-133.27168140669968,
|
|
261.7856383732501
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.19285703743418306,
|
|
-0.15906775551974311,
|
|
0.15384998125285754
|
|
],
|
|
"position_mm": [
|
|
192.85703743418307,
|
|
-159.06775551974312,
|
|
153.84998125285753
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.28418702420140635,
|
|
-0.16013982835036303,
|
|
0.14980434072610985
|
|
],
|
|
"position_mm": [
|
|
284.18702420140636,
|
|
-160.13982835036302,
|
|
149.80434072610984
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.2467055847298295,
|
|
-0.15927528099985627,
|
|
0.1505922590909604
|
|
],
|
|
"position_mm": [
|
|
246.7055847298295,
|
|
-159.27528099985628,
|
|
150.59225909096043
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |