694 lines
13 KiB
JSON
694 lines
13 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-03T04:23:19Z",
|
|
"summary": {
|
|
"num_cameras": 4,
|
|
"num_markers": 32,
|
|
"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": "c",
|
|
"position_m": [
|
|
0.30200652155301316,
|
|
-0.9020153808807998,
|
|
0.39842941410859795
|
|
],
|
|
"position_mm": [
|
|
302.00652155301316,
|
|
-902.0153808807999,
|
|
398.42941410859794
|
|
],
|
|
"direction": [
|
|
-0.10717876255512238,
|
|
0.9495941400527954,
|
|
-0.2945907711982727
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "d",
|
|
"position_m": [
|
|
0.7005523974946344,
|
|
-0.7953874519308782,
|
|
0.40063197730228306
|
|
],
|
|
"position_mm": [
|
|
700.5523974946344,
|
|
-795.3874519308782,
|
|
400.6319773022831
|
|
],
|
|
"direction": [
|
|
-0.5518289804458618,
|
|
0.7841700911521912,
|
|
-0.2838345468044281
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 40,
|
|
"position_m": [
|
|
0.29429646674738363,
|
|
-0.17766351982768383,
|
|
0.32214137596992326
|
|
],
|
|
"position_mm": [
|
|
294.29646674738365,
|
|
-177.66351982768384,
|
|
322.1413759699233
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
-0.4224220616915755,
|
|
0.0,
|
|
-0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 41,
|
|
"position_m": [
|
|
0.2589673371568885,
|
|
-0.14273442214497,
|
|
0.34461321401394673
|
|
],
|
|
"position_mm": [
|
|
258.9673371568885,
|
|
-142.73442214497,
|
|
344.61321401394673
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 44,
|
|
"position_m": [
|
|
0.2647045214158474,
|
|
-0.1746924440083029,
|
|
0.2974965848257694
|
|
],
|
|
"position_mm": [
|
|
264.7045214158474,
|
|
-174.69244400830289,
|
|
297.4965848257694
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
-0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 45,
|
|
"position_m": [
|
|
0.2545488168645282,
|
|
-0.19378422935447337,
|
|
0.33809212057425597
|
|
],
|
|
"position_mm": [
|
|
254.5488168645282,
|
|
-193.78422935447338,
|
|
338.092120574256
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
-0.8830215713766957,
|
|
-0.3090575499818435,
|
|
-0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16788029830784462,
|
|
-0.17260811918284022,
|
|
-0.027712664532249166
|
|
],
|
|
"position_mm": [
|
|
167.8802983078446,
|
|
-172.60811918284023,
|
|
-27.712664532249168
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.34020520566306417,
|
|
-0.32714736365708835,
|
|
-0.027906488244738674
|
|
],
|
|
"position_mm": [
|
|
340.2052056630642,
|
|
-327.14736365708836,
|
|
-27.906488244738675
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.28485320987643176,
|
|
-0.2605708531195081,
|
|
-0.02794483163135489
|
|
],
|
|
"position_mm": [
|
|
284.8532098764318,
|
|
-260.5708531195081,
|
|
-27.944831631354887
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.04699338311754005,
|
|
-0.21608441222247393,
|
|
-0.027492808307278398
|
|
],
|
|
"position_mm": [
|
|
46.99338311754005,
|
|
-216.08441222247393,
|
|
-27.4928083072784
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40226674662996575,
|
|
-0.17393981376695578,
|
|
-0.027236237691485362
|
|
],
|
|
"position_mm": [
|
|
402.2667466299658,
|
|
-173.93981376695578,
|
|
-27.23623769148536
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.019734128218096177,
|
|
-0.18844726302843956,
|
|
-0.027554771441965584
|
|
],
|
|
"position_mm": [
|
|
-19.734128218096178,
|
|
-188.44726302843955,
|
|
-27.554771441965585
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.007149608281121596,
|
|
-0.2783731114714834,
|
|
-0.026744906347967924
|
|
],
|
|
"position_mm": [
|
|
7.149608281121596,
|
|
-278.3731114714834,
|
|
-26.744906347967923
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3114347454047289,
|
|
-0.15924663315716892,
|
|
-0.02719923197769498
|
|
],
|
|
"position_mm": [
|
|
311.43474540472886,
|
|
-159.2466331571689,
|
|
-27.199231977694982
|
|
],
|
|
"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": [
|
|
0.3616649841775739,
|
|
0.2948260524054023,
|
|
-0.026968858818128872
|
|
],
|
|
"position_mm": [
|
|
361.6649841775739,
|
|
294.82605240540227,
|
|
-26.968858818128872
|
|
],
|
|
"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": [
|
|
0.18656708388656523,
|
|
-0.27628676538944663,
|
|
-0.027271263771020144
|
|
],
|
|
"position_mm": [
|
|
186.56708388656523,
|
|
-276.28676538944666,
|
|
-27.271263771020145
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.372157016827821,
|
|
-0.1843758330094042,
|
|
-0.02776086199548662
|
|
],
|
|
"position_mm": [
|
|
372.157016827821,
|
|
-184.37583300940418,
|
|
-27.76086199548662
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10469542318367946,
|
|
-0.19019801474079653,
|
|
-0.027567380145917475
|
|
],
|
|
"position_mm": [
|
|
104.69542318367945,
|
|
-190.19801474079654,
|
|
-27.567380145917475
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 114,
|
|
"position_m": [
|
|
0.2832426311151668,
|
|
-0.14948490175911225,
|
|
0.23626346359853695
|
|
],
|
|
"position_mm": [
|
|
283.2426311151668,
|
|
-149.48490175911226,
|
|
236.26346359853696
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 115,
|
|
"position_m": [
|
|
0.23221154119022705,
|
|
-0.16146140824613575,
|
|
0.23626440653553385
|
|
],
|
|
"position_mm": [
|
|
232.21154119022705,
|
|
-161.46140824613576,
|
|
236.26440653553385
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 120,
|
|
"position_m": [
|
|
0.28251567835796654,
|
|
-0.15451690142568017,
|
|
0.1662206630377782
|
|
],
|
|
"position_mm": [
|
|
282.5156783579665,
|
|
-154.51690142568017,
|
|
166.2206630377782
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.16131067411085287,
|
|
-0.05151579661597387,
|
|
0.09029447049950327
|
|
],
|
|
"position_mm": [
|
|
161.31067411085286,
|
|
-51.51579661597387,
|
|
90.29447049950328
|
|
],
|
|
"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": 208,
|
|
"position_m": [
|
|
0.353247465641768,
|
|
-0.0904084523071933,
|
|
0.0011143375563977662
|
|
],
|
|
"position_mm": [
|
|
353.24746564176803,
|
|
-90.4084523071933,
|
|
1.1143375563977662
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.02193831061615717,
|
|
-0.019515356971096645,
|
|
0.0007138556096318405
|
|
],
|
|
"position_mm": [
|
|
21.93831061615717,
|
|
-19.515356971096644,
|
|
0.7138556096318405
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.34857550776982615,
|
|
-0.012871985389807111,
|
|
0.0012571691255254661
|
|
],
|
|
"position_mm": [
|
|
348.5755077698262,
|
|
-12.871985389807111,
|
|
1.2571691255254662
|
|
],
|
|
"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
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.15814462004401672,
|
|
-0.14325230401483818,
|
|
0.08811942104062868
|
|
],
|
|
"position_mm": [
|
|
158.14462004401673,
|
|
-143.2523040148382,
|
|
88.11942104062868
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"position_m": [
|
|
0.24915339144969362,
|
|
-0.16800316609556865,
|
|
0.028604412596763776
|
|
],
|
|
"position_mm": [
|
|
249.15339144969363,
|
|
-168.00316609556864,
|
|
28.604412596763776
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.16086981371680323,
|
|
-0.17562844338619749,
|
|
0.046282617264733705
|
|
],
|
|
"position_mm": [
|
|
160.86981371680324,
|
|
-175.6284433861975,
|
|
46.2826172647337
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.2501843053822354,
|
|
-0.17636891441150646,
|
|
0.052388102710406434
|
|
],
|
|
"position_mm": [
|
|
250.1843053822354,
|
|
-176.36891441150647,
|
|
52.388102710406436
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.21684268931989562,
|
|
-0.17712494246095728,
|
|
0.053410260479074594
|
|
],
|
|
"position_mm": [
|
|
216.8426893198956,
|
|
-177.12494246095727,
|
|
53.410260479074594
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |