448 lines
8.4 KiB
JSON
448 lines
8.4 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-03T04:17:05Z",
|
|
"summary": {
|
|
"num_cameras": 3,
|
|
"num_markers": 20,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.3008120456617256,
|
|
-0.7967324976921262,
|
|
0.8035603940327218
|
|
],
|
|
"position_mm": [
|
|
-300.8120456617256,
|
|
-796.7324976921261,
|
|
803.5603940327219
|
|
],
|
|
"direction": [
|
|
0.478861004114151,
|
|
0.6553303003311157,
|
|
-0.5841526389122009
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "b",
|
|
"position_m": [
|
|
0.3032776168602546,
|
|
-0.9034907966109161,
|
|
1.1914760495863213
|
|
],
|
|
"position_mm": [
|
|
303.2776168602546,
|
|
-903.4907966109162,
|
|
1191.4760495863213
|
|
],
|
|
"direction": [
|
|
0.005841582547873259,
|
|
0.630989134311676,
|
|
-0.7757696509361267
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "e",
|
|
"position_m": [
|
|
1.204669017179544,
|
|
-0.9015972134086692,
|
|
0.40396820989135496
|
|
],
|
|
"position_mm": [
|
|
1204.669017179544,
|
|
-901.5972134086692,
|
|
403.96820989135495
|
|
],
|
|
"direction": [
|
|
-0.7505777478218079,
|
|
0.6045735478401184,
|
|
-0.26669058203697205
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 40,
|
|
"position_m": [
|
|
0.2681675132548733,
|
|
-0.15038643839663032,
|
|
0.35554163448990583
|
|
],
|
|
"position_mm": [
|
|
268.1675132548733,
|
|
-150.38643839663033,
|
|
355.54163448990585
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
-0.4224220616915755,
|
|
0.0,
|
|
-0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 44,
|
|
"position_m": [
|
|
0.2340614502912172,
|
|
-0.16992843423960377,
|
|
0.32791420382514525
|
|
],
|
|
"position_mm": [
|
|
234.0614502912172,
|
|
-169.92843423960377,
|
|
327.91420382514525
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
-0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.34396091272472074,
|
|
-0.2882905385046472,
|
|
-0.02749959872197397
|
|
],
|
|
"position_mm": [
|
|
343.96091272472074,
|
|
-288.2905385046472,
|
|
-27.49959872197397
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.33927137777054195,
|
|
-0.32836945460848954,
|
|
-0.027140499837860998
|
|
],
|
|
"position_mm": [
|
|
339.27137777054196,
|
|
-328.36945460848955,
|
|
-27.140499837860997
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6270536767050526,
|
|
-0.2758227543097342,
|
|
-0.0279685204506267
|
|
],
|
|
"position_mm": [
|
|
627.0536767050527,
|
|
-275.8227543097342,
|
|
-27.9685204506267
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4014452280123305,
|
|
-0.17310633125283337,
|
|
-0.027301829176284084
|
|
],
|
|
"position_mm": [
|
|
401.4452280123305,
|
|
-173.10633125283337,
|
|
-27.301829176284084
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7744034262642909,
|
|
-0.2348583697560386,
|
|
-0.02838017097504217
|
|
],
|
|
"position_mm": [
|
|
774.4034262642909,
|
|
-234.8583697560386,
|
|
-28.380170975042173
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5060671044869716,
|
|
-0.31403206593970623,
|
|
-0.027225176370726356
|
|
],
|
|
"position_mm": [
|
|
506.0671044869716,
|
|
-314.03206593970623,
|
|
-27.225176370726356
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6468634129279873,
|
|
-0.18720398899604554,
|
|
-0.027212595256534067
|
|
],
|
|
"position_mm": [
|
|
646.8634129279873,
|
|
-187.20398899604555,
|
|
-27.21259525653407
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.1872515300812936,
|
|
-0.27596642482729833,
|
|
-0.029104489270393753
|
|
],
|
|
"position_mm": [
|
|
187.25153008129362,
|
|
-275.96642482729834,
|
|
-29.104489270393753
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3708303561415731,
|
|
-0.1842468314944529,
|
|
-0.027598120482914306
|
|
],
|
|
"position_mm": [
|
|
370.83035614157313,
|
|
-184.2468314944529,
|
|
-27.598120482914307
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6515122211947724,
|
|
-0.22397272474065516,
|
|
-0.02726850304672431
|
|
],
|
|
"position_mm": [
|
|
651.5122211947723,
|
|
-223.97272474065517,
|
|
-27.268503046724312
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10507647537133025,
|
|
-0.19001670019407546,
|
|
-0.02895879317782777
|
|
],
|
|
"position_mm": [
|
|
105.07647537133025,
|
|
-190.01670019407547,
|
|
-28.95879317782777
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"position_m": [
|
|
0.5224735537776948,
|
|
-0.2684307937788223,
|
|
-0.027215134668328485
|
|
],
|
|
"position_mm": [
|
|
522.4735537776947,
|
|
-268.4307937788223,
|
|
-27.215134668328485
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 120,
|
|
"position_m": [
|
|
0.2619857977321362,
|
|
-0.15564989056901132,
|
|
0.16696313354319683
|
|
],
|
|
"position_mm": [
|
|
261.9857977321362,
|
|
-155.64989056901132,
|
|
166.96313354319685
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6505152696238259,
|
|
-0.009935598080629916,
|
|
0.000279574513070445
|
|
],
|
|
"position_mm": [
|
|
650.5152696238259,
|
|
-9.935598080629916,
|
|
0.279574513070445
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.13744718774042755,
|
|
-0.1410055594645085,
|
|
0.08576867419838481
|
|
],
|
|
"position_mm": [
|
|
137.44718774042755,
|
|
-141.00555946450848,
|
|
85.76867419838482
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.13934231067384872,
|
|
-0.17693719851202955,
|
|
0.04709633761724975
|
|
],
|
|
"position_mm": [
|
|
139.34231067384871,
|
|
-176.93719851202954,
|
|
47.09633761724975
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.2290678838712042,
|
|
-0.1772727007228455,
|
|
0.052767187698013106
|
|
],
|
|
"position_mm": [
|
|
229.0678838712042,
|
|
-177.2727007228455,
|
|
52.7671876980131
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.19436896938045858,
|
|
-0.17737070499883775,
|
|
0.053932640487524885
|
|
],
|
|
"position_mm": [
|
|
194.3689693804586,
|
|
-177.37070499883777,
|
|
53.932640487524885
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |