598 lines
11 KiB
JSON
598 lines
11 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:18:12Z",
|
|
"summary": {
|
|
"num_cameras": 4,
|
|
"num_markers": 27,
|
|
"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": "c",
|
|
"position_m": [
|
|
0.31352477320154787,
|
|
-0.900364134663362,
|
|
0.395486087669763
|
|
],
|
|
"position_mm": [
|
|
313.5247732015479,
|
|
-900.3641346633619,
|
|
395.48608766976304
|
|
],
|
|
"direction": [
|
|
-0.12002504616975784,
|
|
0.9488678574562073,
|
|
-0.2919653058052063
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "f",
|
|
"position_m": [
|
|
0.4840985781070297,
|
|
-0.3107642971811879,
|
|
1.4024590280841054
|
|
],
|
|
"position_mm": [
|
|
484.0985781070297,
|
|
-310.76429718118794,
|
|
1402.4590280841053
|
|
],
|
|
"direction": [
|
|
-0.22673296928405762,
|
|
0.08821365982294083,
|
|
-0.9699538946151733
|
|
]
|
|
},
|
|
{
|
|
"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": [
|
|
0.27361381097298754,
|
|
-0.14469743902249116,
|
|
0.3522537713026141
|
|
],
|
|
"position_mm": [
|
|
273.61381097298755,
|
|
-144.69743902249115,
|
|
352.2537713026141
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
-0.4224220616915755,
|
|
0.0,
|
|
-0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 44,
|
|
"position_m": [
|
|
0.23793685671350562,
|
|
-0.16982362027739079,
|
|
0.3260000548550246
|
|
],
|
|
"position_mm": [
|
|
237.93685671350562,
|
|
-169.82362027739077,
|
|
326.0000548550246
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
-0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.1676993167969521,
|
|
-0.17435188925655037,
|
|
-0.026964963933763825
|
|
],
|
|
"position_mm": [
|
|
167.6993167969521,
|
|
-174.35188925655038,
|
|
-26.964963933763826
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.3405888456496309,
|
|
-0.32705442449447764,
|
|
-0.027886321018224487
|
|
],
|
|
"position_mm": [
|
|
340.58884564963085,
|
|
-327.05442449447764,
|
|
-27.886321018224486
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.284297891852674,
|
|
-0.26085108157192205,
|
|
-0.02750488521507784
|
|
],
|
|
"position_mm": [
|
|
284.297891852674,
|
|
-260.85108157192207,
|
|
-27.50488521507784
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.04998124671354088,
|
|
-0.21996284593157658,
|
|
-0.024385314630597413
|
|
],
|
|
"position_mm": [
|
|
49.98124671354088,
|
|
-219.9628459315766,
|
|
-24.385314630597414
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40357854001976884,
|
|
-0.17072186855295837,
|
|
-0.029534087765452417
|
|
],
|
|
"position_mm": [
|
|
403.57854001976887,
|
|
-170.72186855295837,
|
|
-29.534087765452416
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.020429559872941577,
|
|
-0.18806938714631163,
|
|
-0.027575714881760742
|
|
],
|
|
"position_mm": [
|
|
-20.429559872941578,
|
|
-188.06938714631164,
|
|
-27.575714881760742
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.004494822065321918,
|
|
-0.28001543744804097,
|
|
-0.03491261627746267
|
|
],
|
|
"position_mm": [
|
|
4.494822065321918,
|
|
-280.015437448041,
|
|
-34.912616277462675
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31251601466070006,
|
|
-0.15873531744981265,
|
|
-0.0279764427286793
|
|
],
|
|
"position_mm": [
|
|
312.5160146607001,
|
|
-158.73531744981264,
|
|
-27.976442728679302
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"position_m": [
|
|
0.2181443720303828,
|
|
0.29696824747920286,
|
|
-0.02824624482248448
|
|
],
|
|
"position_mm": [
|
|
218.1443720303828,
|
|
296.9682474792029,
|
|
-28.24624482248448
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"position_m": [
|
|
0.044744972755878465,
|
|
0.3416635937385957,
|
|
-0.02774746889066368
|
|
],
|
|
"position_mm": [
|
|
44.744972755878464,
|
|
341.6635937385957,
|
|
-27.74746889066368
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5058760622590931,
|
|
-0.31363102518701785,
|
|
-0.02697409054438632
|
|
],
|
|
"position_mm": [
|
|
505.8760622590931,
|
|
-313.6310251870178,
|
|
-26.97409054438632
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18628778829152165,
|
|
-0.2762779270823843,
|
|
-0.027428557845143354
|
|
],
|
|
"position_mm": [
|
|
186.28778829152165,
|
|
-276.2779270823843,
|
|
-27.428557845143352
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3701692580378726,
|
|
-0.18568082789782053,
|
|
-0.026390930137695563
|
|
],
|
|
"position_mm": [
|
|
370.1692580378726,
|
|
-185.68082789782054,
|
|
-26.390930137695563
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.30542725600285325,
|
|
-0.35933134017164337,
|
|
-0.02555522995323865
|
|
],
|
|
"position_mm": [
|
|
305.42725600285326,
|
|
-359.3313401716434,
|
|
-25.55522995323865
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10554918363053992,
|
|
-0.18969769888352808,
|
|
-0.02812209284986026
|
|
],
|
|
"position_mm": [
|
|
105.54918363053991,
|
|
-189.6976988835281,
|
|
-28.12209284986026
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 115,
|
|
"position_m": [
|
|
0.21449058039767932,
|
|
-0.1580851659610109,
|
|
0.23516874231064291
|
|
],
|
|
"position_mm": [
|
|
214.4905803976793,
|
|
-158.08516596101092,
|
|
235.16874231064293
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.1396029242346196,
|
|
-0.052554276634089854,
|
|
0.09138500443858501
|
|
],
|
|
"position_mm": [
|
|
139.6029242346196,
|
|
-52.55427663408985,
|
|
91.38500443858501
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.3519479099608314,
|
|
-0.09110965010804958,
|
|
0.000853130162144067
|
|
],
|
|
"position_mm": [
|
|
351.9479099608314,
|
|
-91.10965010804958,
|
|
0.853130162144067
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.021064915599009162,
|
|
-0.02010784017118044,
|
|
0.0012934590799929956
|
|
],
|
|
"position_mm": [
|
|
21.06491559900916,
|
|
-20.107840171180438,
|
|
1.2934590799929955
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3476375489061021,
|
|
-0.011230208135152532,
|
|
2.0720346242782185e-05
|
|
],
|
|
"position_mm": [
|
|
347.6375489061021,
|
|
-11.230208135152532,
|
|
0.020720346242782184
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.2502372396758538,
|
|
-0.08964247393195794,
|
|
-0.00028572616354955523
|
|
],
|
|
"position_mm": [
|
|
250.23723967585383,
|
|
-89.64247393195794,
|
|
-0.2857261635495552
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.137869829900095,
|
|
-0.14231942532543881,
|
|
0.08512321052068988
|
|
],
|
|
"position_mm": [
|
|
137.869829900095,
|
|
-142.3194253254388,
|
|
85.12321052068988
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.1412048054129186,
|
|
-0.17163947450298123,
|
|
0.045383664886614605
|
|
],
|
|
"position_mm": [
|
|
141.2048054129186,
|
|
-171.63947450298122,
|
|
45.3836648866146
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.23285234641574332,
|
|
-0.17638042444573987,
|
|
0.05181168502703168
|
|
],
|
|
"position_mm": [
|
|
232.8523464157433,
|
|
-176.38042444573986,
|
|
51.81168502703168
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.1957281903315235,
|
|
-0.17141906524041461,
|
|
0.04996375768768424
|
|
],
|
|
"position_mm": [
|
|
195.7281903315235,
|
|
-171.41906524041462,
|
|
49.96375768768424
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |