579 lines
11 KiB
JSON
579 lines
11 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:18:33Z",
|
|
"summary": {
|
|
"num_cameras": 4,
|
|
"num_markers": 26,
|
|
"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": "d",
|
|
"position_m": [
|
|
0.7053726989327014,
|
|
-0.7916993791931249,
|
|
0.39580877555507565
|
|
],
|
|
"position_mm": [
|
|
705.3726989327014,
|
|
-791.699379193125,
|
|
395.80877555507567
|
|
],
|
|
"direction": [
|
|
-0.5581956505775452,
|
|
0.7812879085540771,
|
|
-0.2792970836162567
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "g",
|
|
"position_m": [
|
|
-0.2105851021647306,
|
|
0.1959402103874402,
|
|
1.396204731389063
|
|
],
|
|
"position_mm": [
|
|
-210.58510216473059,
|
|
195.9402103874402,
|
|
1396.204731389063
|
|
],
|
|
"direction": [
|
|
0.30323532223701477,
|
|
-0.29429134726524353,
|
|
-0.9063338041305542
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 40,
|
|
"position_m": [
|
|
0.2703903906227553,
|
|
-0.14774583657300713,
|
|
0.3520574094750516
|
|
],
|
|
"position_mm": [
|
|
270.39039062275526,
|
|
-147.74583657300713,
|
|
352.0574094750516
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
-0.4224220616915755,
|
|
0.0,
|
|
-0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 44,
|
|
"position_m": [
|
|
0.23650890117583923,
|
|
-0.1684217434056138,
|
|
0.32446257253689903
|
|
],
|
|
"position_mm": [
|
|
236.5089011758392,
|
|
-168.4217434056138,
|
|
324.462572536899
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
-0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.34507176638420156,
|
|
-0.28573824125902003,
|
|
-0.03048583184083355
|
|
],
|
|
"position_mm": [
|
|
345.07176638420157,
|
|
-285.73824125902,
|
|
-30.48583184083355
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16785907297762168,
|
|
-0.1736911860212496,
|
|
-0.02730501838383211
|
|
],
|
|
"position_mm": [
|
|
167.85907297762168,
|
|
-173.69118602124962,
|
|
-27.30501838383211
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.33880015335198577,
|
|
-0.329036702641855,
|
|
-0.024994713798493128
|
|
],
|
|
"position_mm": [
|
|
338.8001533519858,
|
|
-329.03670264185496,
|
|
-24.994713798493127
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.28510536712366763,
|
|
-0.26054094170148423,
|
|
-0.02832437173570081
|
|
],
|
|
"position_mm": [
|
|
285.10536712366763,
|
|
-260.54094170148426,
|
|
-28.32437173570081
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.048189889342042984,
|
|
-0.21613744697300824,
|
|
-0.027406621853727938
|
|
],
|
|
"position_mm": [
|
|
48.18988934204298,
|
|
-216.13744697300825,
|
|
-27.406621853727938
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6265358459060882,
|
|
-0.27652044316414887,
|
|
-0.02670523739735905
|
|
],
|
|
"position_mm": [
|
|
626.5358459060882,
|
|
-276.52044316414884,
|
|
-26.705237397359053
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.023436312711267282,
|
|
-0.18694825282949046,
|
|
-0.029058442159578514
|
|
],
|
|
"position_mm": [
|
|
-23.43631271126728,
|
|
-186.94825282949046,
|
|
-29.058442159578515
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.006144664615628534,
|
|
-0.27952679201271763,
|
|
-0.027053061100257816
|
|
],
|
|
"position_mm": [
|
|
6.144664615628534,
|
|
-279.52679201271764,
|
|
-27.053061100257814
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3120429252299763,
|
|
-0.1584268657292465,
|
|
-0.027081434945655715
|
|
],
|
|
"position_mm": [
|
|
312.0429252299763,
|
|
-158.4268657292465,
|
|
-27.081434945655715
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5060346120739696,
|
|
-0.3135975568980157,
|
|
-0.027110573858332623
|
|
],
|
|
"position_mm": [
|
|
506.0346120739696,
|
|
-313.59755689801574,
|
|
-27.11057385833262
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6458427669135792,
|
|
-0.18755150409514132,
|
|
-0.02629364690509367
|
|
],
|
|
"position_mm": [
|
|
645.8427669135792,
|
|
-187.55150409514133,
|
|
-26.29364690509367
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.1868367104428698,
|
|
-0.27554329144188994,
|
|
-0.02811965604366715
|
|
],
|
|
"position_mm": [
|
|
186.83671044286982,
|
|
-275.54329144188995,
|
|
-28.11965604366715
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3695982063808209,
|
|
-0.18556895651600686,
|
|
-0.025302646718756906
|
|
],
|
|
"position_mm": [
|
|
369.5982063808209,
|
|
-185.56895651600686,
|
|
-25.302646718756908
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.1059642175725816,
|
|
-0.19006748428846001,
|
|
-0.02786263048182485
|
|
],
|
|
"position_mm": [
|
|
105.9642175725816,
|
|
-190.06748428846,
|
|
-27.86263048182485
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 115,
|
|
"position_m": [
|
|
0.21232702481291588,
|
|
-0.16042331184541667,
|
|
0.23567686876510363
|
|
],
|
|
"position_mm": [
|
|
212.32702481291588,
|
|
-160.42331184541666,
|
|
235.67686876510362
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 120,
|
|
"position_m": [
|
|
0.26245018323408736,
|
|
-0.15369826198240777,
|
|
0.1651670059246542
|
|
],
|
|
"position_mm": [
|
|
262.4501832340874,
|
|
-153.69826198240776,
|
|
165.1670059246542
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.13945450601970863,
|
|
-0.052963665630600044,
|
|
0.09164347803526733
|
|
],
|
|
"position_mm": [
|
|
139.45450601970862,
|
|
-52.96366563060005,
|
|
91.64347803526734
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.3520151665416763,
|
|
-0.09080509530633499,
|
|
0.0010036429377209884
|
|
],
|
|
"position_mm": [
|
|
352.0151665416763,
|
|
-90.80509530633499,
|
|
1.0036429377209883
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.2521500716391942,
|
|
-0.009029800253900213,
|
|
4.1055366507302954e-05
|
|
],
|
|
"position_mm": [
|
|
252.15007163919418,
|
|
-9.029800253900213,
|
|
0.04105536650730295
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.2501806735232768,
|
|
-0.08900271344041738,
|
|
0.0007140263061500115
|
|
],
|
|
"position_mm": [
|
|
250.18067352327677,
|
|
-89.00271344041738,
|
|
0.7140263061500115
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.13725333958000635,
|
|
-0.14271260761203824,
|
|
0.08529683705143601
|
|
],
|
|
"position_mm": [
|
|
137.25333958000635,
|
|
-142.71260761203825,
|
|
85.29683705143601
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.13975482127703343,
|
|
-0.1738310755552401,
|
|
0.0468858489741374
|
|
],
|
|
"position_mm": [
|
|
139.75482127703341,
|
|
-173.83107555524012,
|
|
46.885848974137396
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.23166946572425412,
|
|
-0.1768366177743837,
|
|
0.05240042673164038
|
|
],
|
|
"position_mm": [
|
|
231.6694657242541,
|
|
-176.8366177743837,
|
|
52.40042673164038
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.1942480476910928,
|
|
-0.17449441461021722,
|
|
0.05177268623313746
|
|
],
|
|
"position_mm": [
|
|
194.2480476910928,
|
|
-174.49441461021723,
|
|
51.772686233137456
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |