883 lines
16 KiB
JSON
883 lines
16 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-03T04:15:19Z",
|
|
"summary": {
|
|
"num_cameras": 5,
|
|
"num_markers": 41,
|
|
"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": "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": "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
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.3434549533813462,
|
|
-0.28813967853178374,
|
|
-0.027315445712020683
|
|
],
|
|
"position_mm": [
|
|
343.4549533813462,
|
|
-288.1396785317837,
|
|
-27.315445712020683
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6867820226140496,
|
|
-0.31817176768817446,
|
|
-0.02759821843552489
|
|
],
|
|
"position_mm": [
|
|
686.7820226140497,
|
|
-318.17176768817444,
|
|
-27.598218435524892
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16847687588441426,
|
|
-0.17321732918521865,
|
|
-0.027521753549024856
|
|
],
|
|
"position_mm": [
|
|
168.47687588441426,
|
|
-173.21732918521866,
|
|
-27.521753549024858
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.3397289727944117,
|
|
-0.327477610948532,
|
|
-0.027187841827466683
|
|
],
|
|
"position_mm": [
|
|
339.72897279441173,
|
|
-327.477610948532,
|
|
-27.187841827466684
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2844103280274146,
|
|
-0.26073972886626917,
|
|
-0.027278721837986616
|
|
],
|
|
"position_mm": [
|
|
284.4103280274146,
|
|
-260.73972886626916,
|
|
-27.278721837986616
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.047144539589213226,
|
|
-0.21635497280966118,
|
|
-0.02759966868847555
|
|
],
|
|
"position_mm": [
|
|
47.144539589213224,
|
|
-216.35497280966118,
|
|
-27.599668688475553
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6276776104211576,
|
|
-0.2769890771589083,
|
|
-0.027179490084843043
|
|
],
|
|
"position_mm": [
|
|
627.6776104211575,
|
|
-276.9890771589083,
|
|
-27.179490084843042
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4018158052095484,
|
|
-0.17254949833116415,
|
|
-0.027637388062597756
|
|
],
|
|
"position_mm": [
|
|
401.8158052095484,
|
|
-172.54949833116416,
|
|
-27.637388062597754
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7749864202265669,
|
|
-0.23633612102871054,
|
|
-0.027607524478283806
|
|
],
|
|
"position_mm": [
|
|
774.9864202265669,
|
|
-236.33612102871055,
|
|
-27.607524478283807
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.019033921377855197,
|
|
-0.18841249191932846,
|
|
-0.02766415246844329
|
|
],
|
|
"position_mm": [
|
|
-19.033921377855197,
|
|
-188.41249191932846,
|
|
-27.664152468443287
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005842147499196193,
|
|
-0.277315277230198,
|
|
-0.027917963893396167
|
|
],
|
|
"position_mm": [
|
|
5.842147499196193,
|
|
-277.315277230198,
|
|
-27.917963893396166
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"position_m": [
|
|
-0.02707172265993515,
|
|
0.19367330185396087,
|
|
-0.028086448196203474
|
|
],
|
|
"position_mm": [
|
|
-27.07172265993515,
|
|
193.67330185396088,
|
|
-28.086448196203474
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 76,
|
|
"position_m": [
|
|
0.6865577141203656,
|
|
0.16909811208704573,
|
|
-0.027648479690950432
|
|
],
|
|
"position_mm": [
|
|
686.5577141203656,
|
|
169.09811208704573,
|
|
-27.64847969095043
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3116090853631556,
|
|
-0.15915935943684362,
|
|
-0.027227014900956525
|
|
],
|
|
"position_mm": [
|
|
311.6090853631556,
|
|
-159.15935943684363,
|
|
-27.227014900956526
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5061412187578819,
|
|
-0.3136684966435744,
|
|
-0.027232339632906485
|
|
],
|
|
"position_mm": [
|
|
506.14121875788186,
|
|
-313.6684966435744,
|
|
-27.232339632906484
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.3622850263255045,
|
|
0.29597039211044585,
|
|
-0.02792560365128676
|
|
],
|
|
"position_mm": [
|
|
362.28502632550453,
|
|
295.97039211044586,
|
|
-27.92560365128676
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6466186784921585,
|
|
-0.18666183140353887,
|
|
-0.02753626863468672
|
|
],
|
|
"position_mm": [
|
|
646.6186784921584,
|
|
-186.66183140353888,
|
|
-27.53626863468672
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 94,
|
|
"position_m": [
|
|
0.8729827517375159,
|
|
0.17487169830675559,
|
|
-0.027459280475570603
|
|
],
|
|
"position_mm": [
|
|
872.982751737516,
|
|
174.87169830675558,
|
|
-27.4592804755706
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18657828451429817,
|
|
-0.27646332460929285,
|
|
-0.027281220237589783
|
|
],
|
|
"position_mm": [
|
|
186.57828451429816,
|
|
-276.46332460929284,
|
|
-27.281220237589782
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.37240903176368045,
|
|
-0.18368580428883902,
|
|
-0.02822632391557874
|
|
],
|
|
"position_mm": [
|
|
372.40903176368045,
|
|
-183.68580428883902,
|
|
-28.22632391557874
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6512960312912819,
|
|
-0.2237508795634906,
|
|
-0.027453948670826796
|
|
],
|
|
"position_mm": [
|
|
651.2960312912819,
|
|
-223.7508795634906,
|
|
-27.453948670826797
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10474955848038035,
|
|
-0.18990336823000478,
|
|
-0.027591541071895712
|
|
],
|
|
"position_mm": [
|
|
104.74955848038036,
|
|
-189.9033682300048,
|
|
-27.591541071895712
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"position_m": [
|
|
0.5229192757023443,
|
|
-0.26751661498920615,
|
|
-0.028112949832478133
|
|
],
|
|
"position_mm": [
|
|
522.9192757023443,
|
|
-267.5166149892062,
|
|
-28.112949832478133
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.30755744407692664,
|
|
-0.11045777680670277,
|
|
0.3299426445565711
|
|
],
|
|
"position_mm": [
|
|
307.55744407692663,
|
|
-110.45777680670277,
|
|
329.94264455657105
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.19181882586983512,
|
|
-0.028842026860134633,
|
|
0.1484330654321271
|
|
],
|
|
"position_mm": [
|
|
191.8188258698351,
|
|
-28.842026860134634,
|
|
148.43306543212708
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6509209686728387,
|
|
-0.00916668071397879,
|
|
-9.078351684511015e-05
|
|
],
|
|
"position_mm": [
|
|
650.9209686728386,
|
|
-9.166680713978788,
|
|
-0.09078351684511016
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 207,
|
|
"position_m": [
|
|
0.753123178992366,
|
|
-0.011328291945676286,
|
|
-0.00045326533774946143
|
|
],
|
|
"position_mm": [
|
|
753.123178992366,
|
|
-11.328291945676286,
|
|
-0.4532653377494614
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.352279531495111,
|
|
-0.08919605758506315,
|
|
0.0006154569558170465
|
|
],
|
|
"position_mm": [
|
|
352.279531495111,
|
|
-89.19605758506314,
|
|
0.6154569558170465
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.022195810897826185,
|
|
-0.019150245644116208,
|
|
-0.000650781609331092
|
|
],
|
|
"position_mm": [
|
|
22.195810897826185,
|
|
-19.150245644116207,
|
|
-0.650781609331092
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.2524885416230699,
|
|
-0.009750143776839042,
|
|
0.0006577761161822469
|
|
],
|
|
"position_mm": [
|
|
252.4885416230699,
|
|
-9.750143776839042,
|
|
0.6577761161822469
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.34885278551028676,
|
|
-0.01073769614382771,
|
|
0.00023762330906602162
|
|
],
|
|
"position_mm": [
|
|
348.85278551028676,
|
|
-10.73769614382771,
|
|
0.2376233090660216
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.25096546278076554,
|
|
-0.08892455382197825,
|
|
0.00026225521156614094
|
|
],
|
|
"position_mm": [
|
|
250.96546278076553,
|
|
-88.92455382197825,
|
|
0.26225521156614096
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.6468620528767385,
|
|
-0.08938656399291049,
|
|
-5.5089022556148844e-05
|
|
],
|
|
"position_mm": [
|
|
646.8620528767385,
|
|
-89.3865639929105,
|
|
-0.055089022556148844
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"position_m": [
|
|
0.264694336179231,
|
|
-0.1363428809131377,
|
|
0.2625458209104202
|
|
],
|
|
"position_mm": [
|
|
264.694336179231,
|
|
-136.3428809131377,
|
|
262.5458209104202
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"position_m": [
|
|
0.26155059614338816,
|
|
-0.11553021735948103,
|
|
0.3686786760800038
|
|
],
|
|
"position_mm": [
|
|
261.55059614338813,
|
|
-115.53021735948103,
|
|
368.6786760800038
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.1878565359647036,
|
|
-0.11039938877165015,
|
|
0.17690068023291683
|
|
],
|
|
"position_mm": [
|
|
187.85653596470362,
|
|
-110.39938877165015,
|
|
176.90068023291684
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"position_m": [
|
|
0.2815594114950323,
|
|
-0.15861266613391473,
|
|
0.12661665310045728
|
|
],
|
|
"position_mm": [
|
|
281.5594114950323,
|
|
-158.61266613391473,
|
|
126.61665310045727
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.19077467705928908,
|
|
-0.16026216180771793,
|
|
0.15524526816203996
|
|
],
|
|
"position_mm": [
|
|
190.77467705928908,
|
|
-160.26216180771794,
|
|
155.24526816203996
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"position_m": [
|
|
0.31723895833296095,
|
|
-0.12721573454847787,
|
|
0.1432619719964209
|
|
],
|
|
"position_mm": [
|
|
317.238958332961,
|
|
-127.21573454847787,
|
|
143.2619719964209
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.27980174996160617,
|
|
-0.1610946353298873,
|
|
0.15157792794818553
|
|
],
|
|
"position_mm": [
|
|
279.80174996160616,
|
|
-161.0946353298873,
|
|
151.57792794818553
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.2454973962388931,
|
|
-0.16067820959041496,
|
|
0.15235647342784725
|
|
],
|
|
"position_mm": [
|
|
245.49739623889312,
|
|
-160.67820959041495,
|
|
152.35647342784725
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |