673 lines
13 KiB
JSON
673 lines
13 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:20:32Z",
|
|
"summary": {
|
|
"num_cameras": 5,
|
|
"num_markers": 30,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"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": "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": "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": "e",
|
|
"position_m": [
|
|
1.204669017179544,
|
|
-0.9015972134086692,
|
|
0.40396820989135496
|
|
],
|
|
"position_mm": [
|
|
1204.669017179544,
|
|
-901.5972134086692,
|
|
403.96820989135495
|
|
],
|
|
"direction": [
|
|
-0.7505777478218079,
|
|
0.6045735478401184,
|
|
-0.26669058203697205
|
|
]
|
|
},
|
|
{
|
|
"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
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 40,
|
|
"position_m": [
|
|
0.27473860709863046,
|
|
-0.15482782886383545,
|
|
0.35284211005674754
|
|
],
|
|
"position_mm": [
|
|
274.73860709863044,
|
|
-154.82782886383544,
|
|
352.8421100567475
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
-0.4224220616915755,
|
|
0.0,
|
|
-0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 44,
|
|
"position_m": [
|
|
0.2384567617444634,
|
|
-0.17197045778661832,
|
|
0.3257226178876428
|
|
],
|
|
"position_mm": [
|
|
238.4567617444634,
|
|
-171.9704577866183,
|
|
325.7226178876428
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
-0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16855796777369372,
|
|
-0.17447473798479285,
|
|
-0.026843781961469877
|
|
],
|
|
"position_mm": [
|
|
168.55796777369372,
|
|
-174.47473798479285,
|
|
-26.843781961469876
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.3397519056454895,
|
|
-0.3285673414975875,
|
|
-0.02739340999751952
|
|
],
|
|
"position_mm": [
|
|
339.7519056454895,
|
|
-328.5673414975875,
|
|
-27.39340999751952
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.04858171309659118,
|
|
-0.21660299357360194,
|
|
-0.027037631119266922
|
|
],
|
|
"position_mm": [
|
|
48.58171309659118,
|
|
-216.60299357360194,
|
|
-27.037631119266923
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6270332010870118,
|
|
-0.27585538950371563,
|
|
-0.0279921719659818
|
|
],
|
|
"position_mm": [
|
|
627.0332010870118,
|
|
-275.8553895037156,
|
|
-27.9921719659818
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4038584994178048,
|
|
-0.17180386373660436,
|
|
-0.028209713139451826
|
|
],
|
|
"position_mm": [
|
|
403.85849941780475,
|
|
-171.80386373660437,
|
|
-28.209713139451825
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7744836830278257,
|
|
-0.23474657960883727,
|
|
-0.028277268205484832
|
|
],
|
|
"position_mm": [
|
|
774.4836830278257,
|
|
-234.74657960883727,
|
|
-28.27726820548483
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.02245326894231094,
|
|
-0.18604721306227184,
|
|
-0.029366502886289943
|
|
],
|
|
"position_mm": [
|
|
-22.453268942310938,
|
|
-186.04721306227185,
|
|
-29.366502886289943
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.006580105928809146,
|
|
-0.28001941827576,
|
|
-0.026440452945042697
|
|
],
|
|
"position_mm": [
|
|
6.580105928809146,
|
|
-280.01941827576,
|
|
-26.440452945042697
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3123405670787497,
|
|
-0.15918487632920636,
|
|
-0.026895320474135086
|
|
],
|
|
"position_mm": [
|
|
312.3405670787497,
|
|
-159.18487632920636,
|
|
-26.895320474135087
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5058950539373407,
|
|
-0.3139734233981459,
|
|
-0.027516831761943028
|
|
],
|
|
"position_mm": [
|
|
505.89505393734066,
|
|
-313.9734233981459,
|
|
-27.516831761943028
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6462277064946191,
|
|
-0.18625934963828708,
|
|
-0.027627143048990284
|
|
],
|
|
"position_mm": [
|
|
646.2277064946192,
|
|
-186.2593496382871,
|
|
-27.627143048990284
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.1873476939884983,
|
|
-0.27636364153591,
|
|
-0.027351953605556725
|
|
],
|
|
"position_mm": [
|
|
187.3476939884983,
|
|
-276.36364153590995,
|
|
-27.351953605556723
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3700405004415112,
|
|
-0.18607574728307355,
|
|
-0.026634787763779862
|
|
],
|
|
"position_mm": [
|
|
370.0405004415112,
|
|
-186.07574728307355,
|
|
-26.634787763779862
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10694674455082041,
|
|
-0.19188943227638197,
|
|
-0.026336855814377284
|
|
],
|
|
"position_mm": [
|
|
106.94674455082041,
|
|
-191.88943227638197,
|
|
-26.336855814377284
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 114,
|
|
"position_m": [
|
|
0.2712030680624758,
|
|
-0.16877059165256564,
|
|
0.23693582768279225
|
|
],
|
|
"position_mm": [
|
|
271.2030680624758,
|
|
-168.77059165256563,
|
|
236.93582768279225
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 115,
|
|
"position_m": [
|
|
0.22199099585129256,
|
|
-0.17380217878556084,
|
|
0.2387187813122906
|
|
],
|
|
"position_mm": [
|
|
221.99099585129255,
|
|
-173.80217878556084,
|
|
238.7187813122906
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 120,
|
|
"position_m": [
|
|
0.28887366257230046,
|
|
-0.2160690529369822,
|
|
0.18845120788387543
|
|
],
|
|
"position_mm": [
|
|
288.8736625723005,
|
|
-216.0690529369822,
|
|
188.45120788387544
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.35271556025873363,
|
|
-0.09195327702079355,
|
|
0.0015481040409618318
|
|
],
|
|
"position_mm": [
|
|
352.7155602587336,
|
|
-91.95327702079355,
|
|
1.5481040409618319
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.02109375926170212,
|
|
-0.018904377216961026,
|
|
0.0011822171864539998
|
|
],
|
|
"position_mm": [
|
|
21.093759261702118,
|
|
-18.904377216961027,
|
|
1.1822171864539996
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3475919540028457,
|
|
-0.012121562725498611,
|
|
0.0007449839574822573
|
|
],
|
|
"position_mm": [
|
|
347.5919540028457,
|
|
-12.121562725498611,
|
|
0.7449839574822573
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.2508658515400426,
|
|
-0.08942627102106179,
|
|
0.0009226415825984637
|
|
],
|
|
"position_mm": [
|
|
250.8658515400426,
|
|
-89.4262710210618,
|
|
0.9226415825984637
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"position_m": [
|
|
0.28229235137733705,
|
|
-0.14480844397550516,
|
|
0.27421166087126475
|
|
],
|
|
"position_mm": [
|
|
282.29235137733707,
|
|
-144.80844397550516,
|
|
274.21166087126477
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.13986846548761084,
|
|
-0.1469725551252695,
|
|
0.08729603911784815
|
|
],
|
|
"position_mm": [
|
|
139.86846548761085,
|
|
-146.97255512526948,
|
|
87.29603911784815
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"position_m": [
|
|
0.19930462478160083,
|
|
-0.07934234712856934,
|
|
0.001814404653056938
|
|
],
|
|
"position_mm": [
|
|
199.30462478160084,
|
|
-79.34234712856934,
|
|
1.8144046530569382
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.1418518703942945,
|
|
-0.1762479803307014,
|
|
0.047433297140899465
|
|
],
|
|
"position_mm": [
|
|
141.8518703942945,
|
|
-176.2479803307014,
|
|
47.43329714089946
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"position_m": [
|
|
0.24426902625381738,
|
|
-0.1040722867216858,
|
|
0.03298802991617168
|
|
],
|
|
"position_mm": [
|
|
244.26902625381737,
|
|
-104.0722867216858,
|
|
32.98802991617168
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.19846522755196033,
|
|
-0.10305483081202418,
|
|
0.014254508167848009
|
|
],
|
|
"position_mm": [
|
|
198.46522755196034,
|
|
-103.05483081202418,
|
|
14.254508167848009
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.18239370699795215,
|
|
-0.13273520070221273,
|
|
0.030598376350420176
|
|
],
|
|
"position_mm": [
|
|
182.39370699795217,
|
|
-132.73520070221272,
|
|
30.598376350420175
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |