844 lines
16 KiB
JSON
844 lines
16 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-02T23:02:26Z",
|
|
"summary": {
|
|
"num_cameras": 5,
|
|
"num_markers": 39,
|
|
"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": "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": "f",
|
|
"position_m": [
|
|
0.48085701508868617,
|
|
-0.3026928145345371,
|
|
1.4042255506450263
|
|
],
|
|
"position_mm": [
|
|
480.8570150886862,
|
|
-302.6928145345371,
|
|
1404.2255506450263
|
|
],
|
|
"direction": [
|
|
-0.22449733316898346,
|
|
0.08296965062618256,
|
|
-0.970936119556427
|
|
]
|
|
},
|
|
{
|
|
"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": 41,
|
|
"position_m": [
|
|
0.2845878135867907,
|
|
-0.08312955523943558,
|
|
0.44099400264971794
|
|
],
|
|
"position_mm": [
|
|
284.5878135867907,
|
|
-83.12955523943558,
|
|
440.99400264971797
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.24826921747523473,
|
|
-0.08131835247026116,
|
|
0.47142282331524615
|
|
],
|
|
"position_mm": [
|
|
248.26921747523474,
|
|
-81.31835247026116,
|
|
471.42282331524615
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.2792505447741105,
|
|
-0.05336678808442895,
|
|
0.454421428276276
|
|
],
|
|
"position_mm": [
|
|
279.2505447741105,
|
|
-53.36678808442895,
|
|
454.421428276276
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.3436516145039585,
|
|
-0.28606534123021277,
|
|
-0.02878456140895459
|
|
],
|
|
"position_mm": [
|
|
343.65161450395846,
|
|
-286.06534123021277,
|
|
-28.784561408954588
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6883199467272847,
|
|
-0.32020164735663725,
|
|
-0.02630665826366418
|
|
],
|
|
"position_mm": [
|
|
688.3199467272847,
|
|
-320.20164735663724,
|
|
-26.306658263664183
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16826854913737246,
|
|
-0.17386491588873954,
|
|
-0.027109752920699153
|
|
],
|
|
"position_mm": [
|
|
168.26854913737247,
|
|
-173.86491588873955,
|
|
-27.109752920699155
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.4872530144169319,
|
|
0.2133681537080458,
|
|
-0.026048696476506938
|
|
],
|
|
"position_mm": [
|
|
487.25301441693193,
|
|
213.36815370804578,
|
|
-26.048696476506937
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.34031320269657817,
|
|
-0.32996017498790614,
|
|
-0.026268278458463693
|
|
],
|
|
"position_mm": [
|
|
340.3132026965782,
|
|
-329.96017498790616,
|
|
-26.268278458463694
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2837856246783136,
|
|
-0.2605639710677875,
|
|
-0.027651933247941737
|
|
],
|
|
"position_mm": [
|
|
283.7856246783136,
|
|
-260.5639710677875,
|
|
-27.651933247941738
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.04971570303478958,
|
|
-0.21856414556250423,
|
|
-0.024878809569053827
|
|
],
|
|
"position_mm": [
|
|
49.715703034789584,
|
|
-218.56414556250422,
|
|
-24.878809569053825
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6263120017393752,
|
|
-0.27755062247099327,
|
|
-0.02736832631157528
|
|
],
|
|
"position_mm": [
|
|
626.3120017393752,
|
|
-277.5506224709933,
|
|
-27.36832631157528
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4035739229564279,
|
|
-0.17129493724829026,
|
|
-0.02889273447488278
|
|
],
|
|
"position_mm": [
|
|
403.5739229564279,
|
|
-171.29493724829027,
|
|
-28.89273447488278
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7749046952509279,
|
|
-0.2361035444841475,
|
|
-0.027819604730148075
|
|
],
|
|
"position_mm": [
|
|
774.9046952509278,
|
|
-236.1035444841475,
|
|
-27.819604730148075
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.021054051044696424,
|
|
-0.1874562068615959,
|
|
-0.027875862345859058
|
|
],
|
|
"position_mm": [
|
|
-21.054051044696426,
|
|
-187.4562068615959,
|
|
-27.87586234585906
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"position_m": [
|
|
0.21077058458312362,
|
|
-0.3648257288347175,
|
|
-0.02654189696565661
|
|
],
|
|
"position_mm": [
|
|
210.77058458312362,
|
|
-364.8257288347175,
|
|
-26.54189696565661
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"position_m": [
|
|
0.5752588911843559,
|
|
0.17345480133110813,
|
|
-0.028188953551968758
|
|
],
|
|
"position_mm": [
|
|
575.2588911843559,
|
|
173.45480133110814,
|
|
-28.18895355196876
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.004697970951147702,
|
|
-0.2798346610655585,
|
|
-0.02721734310209392
|
|
],
|
|
"position_mm": [
|
|
4.697970951147703,
|
|
-279.83466106555846,
|
|
-27.21734310209392
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"position_m": [
|
|
0.7506916080569087,
|
|
-0.28576731504056163,
|
|
-0.026290650201833275
|
|
],
|
|
"position_mm": [
|
|
750.6916080569088,
|
|
-285.76731504056164,
|
|
-26.290650201833273
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.4427892169202651,
|
|
0.19389510686477782,
|
|
-0.029704997487180286
|
|
],
|
|
"position_mm": [
|
|
442.7892169202651,
|
|
193.89510686477783,
|
|
-29.704997487180286
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"position_m": [
|
|
-0.026370204235172404,
|
|
0.19124536217105423,
|
|
-0.025666214778653256
|
|
],
|
|
"position_mm": [
|
|
-26.370204235172405,
|
|
191.24536217105424,
|
|
-25.666214778653256
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31265611905923546,
|
|
-0.15903360227057295,
|
|
-0.02783930581875539
|
|
],
|
|
"position_mm": [
|
|
312.65611905923544,
|
|
-159.03360227057294,
|
|
-27.839305818755392
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5066245469079166,
|
|
-0.3139525920664337,
|
|
-0.0271067051572734
|
|
],
|
|
"position_mm": [
|
|
506.62454690791657,
|
|
-313.95259206643374,
|
|
-27.1067051572734
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.361447209266869,
|
|
0.29348063468747587,
|
|
-0.02645141260208118
|
|
],
|
|
"position_mm": [
|
|
361.44720926686904,
|
|
293.48063468747586,
|
|
-26.45141260208118
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6457141856135213,
|
|
-0.1845850331656775,
|
|
-0.028579722211802154
|
|
],
|
|
"position_mm": [
|
|
645.7141856135213,
|
|
-184.58503316567752,
|
|
-28.579722211802153
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.1862691738390147,
|
|
-0.2758929914483298,
|
|
-0.028062850070296526
|
|
],
|
|
"position_mm": [
|
|
186.2691738390147,
|
|
-275.8929914483298,
|
|
-28.062850070296527
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.37015360479204384,
|
|
-0.1863015480393192,
|
|
-0.026116144239940537
|
|
],
|
|
"position_mm": [
|
|
370.15360479204384,
|
|
-186.3015480393192,
|
|
-26.11614423994054
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6515375513914181,
|
|
-0.2225706951744137,
|
|
-0.027857977885976284
|
|
],
|
|
"position_mm": [
|
|
651.5375513914181,
|
|
-222.5706951744137,
|
|
-27.857977885976286
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10637418493705555,
|
|
-0.19025136394730718,
|
|
-0.027314597296891258
|
|
],
|
|
"position_mm": [
|
|
106.37418493705556,
|
|
-190.2513639473072,
|
|
-27.314597296891257
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.3098863714979219,
|
|
-0.11163676160870396,
|
|
0.32866318712325243
|
|
],
|
|
"position_mm": [
|
|
309.8863714979219,
|
|
-111.63676160870396,
|
|
328.66318712325244
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.19098112941958592,
|
|
-0.03007773812992216,
|
|
0.1494316112697918
|
|
],
|
|
"position_mm": [
|
|
190.98112941958593,
|
|
-30.07773812992216,
|
|
149.4316112697918
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6510505277535695,
|
|
-0.00946317447058448,
|
|
0.0002577330474410289
|
|
],
|
|
"position_mm": [
|
|
651.0505277535696,
|
|
-9.46317447058448,
|
|
0.25773304744102893
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.35171008079242555,
|
|
-0.09071445893737043,
|
|
-0.0001529758860620025
|
|
],
|
|
"position_mm": [
|
|
351.7100807924256,
|
|
-90.71445893737042,
|
|
-0.1529758860620025
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.02218123339939214,
|
|
-0.019758544384122254,
|
|
-4.5929203323915376e-05
|
|
],
|
|
"position_mm": [
|
|
22.181233399392138,
|
|
-19.758544384122253,
|
|
-0.045929203323915375
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3479352929633067,
|
|
-0.010804106334654803,
|
|
0.00013935485073108742
|
|
],
|
|
"position_mm": [
|
|
347.9352929633067,
|
|
-10.804106334654803,
|
|
0.13935485073108742
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.25114526902926715,
|
|
-0.08956975511484626,
|
|
0.0006287858221832477
|
|
],
|
|
"position_mm": [
|
|
251.14526902926715,
|
|
-89.56975511484626,
|
|
0.6287858221832476
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.18612048731154762,
|
|
-0.11547317226746717,
|
|
0.17743153014661772
|
|
],
|
|
"position_mm": [
|
|
186.12048731154763,
|
|
-115.47317226746718,
|
|
177.43153014661772
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.19245535097004962,
|
|
-0.1587694957844327,
|
|
0.15429480503189513
|
|
],
|
|
"position_mm": [
|
|
192.4553509700496,
|
|
-158.7694957844327,
|
|
154.29480503189512
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.28377584249971743,
|
|
-0.1640261105374722,
|
|
0.1516890631032987
|
|
],
|
|
"position_mm": [
|
|
283.77584249971744,
|
|
-164.02611053747222,
|
|
151.68906310329868
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.24687157273573002,
|
|
-0.15760324422943625,
|
|
0.14994149538736265
|
|
],
|
|
"position_mm": [
|
|
246.87157273573,
|
|
-157.60324422943626,
|
|
149.94149538736264
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |