429 lines
8.0 KiB
JSON
429 lines
8.0 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-03T04:22:58Z",
|
|
"summary": {
|
|
"num_cameras": 3,
|
|
"num_markers": 19,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.2999039553024492,
|
|
-0.7966331104538593,
|
|
0.8022965428228306
|
|
],
|
|
"position_mm": [
|
|
-299.90395530244916,
|
|
-796.6331104538593,
|
|
802.2965428228306
|
|
],
|
|
"direction": [
|
|
0.4790363907814026,
|
|
0.655602753162384,
|
|
-0.5837029814720154
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "b",
|
|
"position_m": [
|
|
0.2997741245358298,
|
|
-0.8919452713410032,
|
|
1.1998563182979443
|
|
],
|
|
"position_mm": [
|
|
299.7741245358298,
|
|
-891.9452713410033,
|
|
1199.8563182979442
|
|
],
|
|
"direction": [
|
|
0.008538469672203064,
|
|
0.6230279803276062,
|
|
-0.7821529507637024
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "f",
|
|
"position_m": [
|
|
0.48527535699969704,
|
|
-0.3052028540305418,
|
|
1.4031193543203273
|
|
],
|
|
"position_mm": [
|
|
485.275356999697,
|
|
-305.2028540305418,
|
|
1403.1193543203274
|
|
],
|
|
"direction": [
|
|
-0.22739066183567047,
|
|
0.08463967591524124,
|
|
-0.9701183438301086
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 41,
|
|
"position_m": [
|
|
0.2555653846088795,
|
|
-0.1456931004382793,
|
|
0.34730110313557105
|
|
],
|
|
"position_mm": [
|
|
255.5653846088795,
|
|
-145.6931004382793,
|
|
347.30110313557105
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.34367054802444236,
|
|
-0.28830294759784697,
|
|
-0.02738273197870817
|
|
],
|
|
"position_mm": [
|
|
343.6705480244424,
|
|
-288.302947597847,
|
|
-27.382731978708172
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.3397876228608639,
|
|
-0.32779487471781543,
|
|
-0.027053335601234168
|
|
],
|
|
"position_mm": [
|
|
339.7876228608639,
|
|
-327.79487471781545,
|
|
-27.053335601234167
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.28453977860777613,
|
|
-0.2609482631193146,
|
|
-0.027214362191835005
|
|
],
|
|
"position_mm": [
|
|
284.53977860777616,
|
|
-260.9482631193146,
|
|
-27.214362191835004
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4018145130459961,
|
|
-0.17319252727193932,
|
|
-0.027589558334462323
|
|
],
|
|
"position_mm": [
|
|
401.8145130459961,
|
|
-173.19252727193933,
|
|
-27.58955833446232
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.00629834710712339,
|
|
-0.2775786929233091,
|
|
-0.028277932280186126
|
|
],
|
|
"position_mm": [
|
|
6.29834710712339,
|
|
-277.5786929233091,
|
|
-28.277932280186125
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31135191226832415,
|
|
-0.15965807231795717,
|
|
-0.027299344254828647
|
|
],
|
|
"position_mm": [
|
|
311.35191226832416,
|
|
-159.65807231795716,
|
|
-27.299344254828647
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5066294917532133,
|
|
-0.31351810446589856,
|
|
-0.0273469943710427
|
|
],
|
|
"position_mm": [
|
|
506.62949175321324,
|
|
-313.51810446589855,
|
|
-27.3469943710427
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.36299986390802214,
|
|
0.29641368797695294,
|
|
-0.02872683171065148
|
|
],
|
|
"position_mm": [
|
|
362.9998639080221,
|
|
296.41368797695293,
|
|
-28.72683171065148
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6469113677874619,
|
|
-0.18733220503899006,
|
|
-0.02740084233977019
|
|
],
|
|
"position_mm": [
|
|
646.9113677874619,
|
|
-187.33220503899005,
|
|
-27.40084233977019
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18661731323652983,
|
|
-0.27678565446253617,
|
|
-0.027058649952087132
|
|
],
|
|
"position_mm": [
|
|
186.61731323652984,
|
|
-276.7856544625362,
|
|
-27.058649952087134
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3715991907744337,
|
|
-0.1841555381829345,
|
|
-0.0275817686590283
|
|
],
|
|
"position_mm": [
|
|
371.5991907744337,
|
|
-184.15553818293452,
|
|
-27.5817686590283
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.30649681028112,
|
|
-0.3584795471503003,
|
|
-0.02719965548047985
|
|
],
|
|
"position_mm": [
|
|
306.49681028112,
|
|
-358.4795471503003,
|
|
-27.19965548047985
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10461873007902171,
|
|
-0.19060959665138588,
|
|
-0.027034114235207494
|
|
],
|
|
"position_mm": [
|
|
104.61873007902172,
|
|
-190.60959665138589,
|
|
-27.034114235207493
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.159958039382567,
|
|
-0.053530009348929534,
|
|
0.09171226865462803
|
|
],
|
|
"position_mm": [
|
|
159.958039382567,
|
|
-53.53000934892953,
|
|
91.71226865462803
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6502755851887317,
|
|
-0.010787701516286361,
|
|
0.00045726552425999863
|
|
],
|
|
"position_mm": [
|
|
650.2755851887317,
|
|
-10.787701516286361,
|
|
0.4572655242599986
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.02171835086268251,
|
|
-0.020340157943394,
|
|
0.0010696268694305184
|
|
],
|
|
"position_mm": [
|
|
21.71835086268251,
|
|
-20.340157943394,
|
|
1.0696268694305184
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3481578883045394,
|
|
-0.01236558422283304,
|
|
0.0006104017588019441
|
|
],
|
|
"position_mm": [
|
|
348.1578883045394,
|
|
-12.365584222833041,
|
|
0.6104017588019441
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.6466197194857746,
|
|
-0.08982521987477064,
|
|
0.000285440966858493
|
|
],
|
|
"position_mm": [
|
|
646.6197194857746,
|
|
-89.82521987477064,
|
|
0.28544096685849296
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
}
|
|
]
|
|
} |