637 lines
12 KiB
JSON
637 lines
12 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-03T04:23:48Z",
|
|
"summary": {
|
|
"num_cameras": 4,
|
|
"num_markers": 29,
|
|
"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": "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": "e",
|
|
"position_m": [
|
|
1.2031666552274363,
|
|
-0.9024200483733755,
|
|
0.40396080672886847
|
|
],
|
|
"position_mm": [
|
|
1203.1666552274362,
|
|
-902.4200483733755,
|
|
403.9608067288685
|
|
],
|
|
"direction": [
|
|
-0.7491942644119263,
|
|
0.6063534617424011,
|
|
-0.26653963327407837
|
|
]
|
|
},
|
|
{
|
|
"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": 44,
|
|
"position_m": [
|
|
0.2646507892280259,
|
|
-0.1741555806194812,
|
|
0.29883383085605764
|
|
],
|
|
"position_mm": [
|
|
264.6507892280259,
|
|
-174.15558061948119,
|
|
298.83383085605766
|
|
],
|
|
"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": 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": 51,
|
|
"position_m": [
|
|
0.16811498360707197,
|
|
-0.17228168606933408,
|
|
-0.028186384527186595
|
|
],
|
|
"position_mm": [
|
|
168.11498360707196,
|
|
-172.28168606933409,
|
|
-28.186384527186593
|
|
],
|
|
"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": 58,
|
|
"position_m": [
|
|
0.04728679661924788,
|
|
-0.2165896304657498,
|
|
-0.02700586780525123
|
|
],
|
|
"position_mm": [
|
|
47.28679661924788,
|
|
-216.5896304657498,
|
|
-27.00586780525123
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40170836731455506,
|
|
-0.17301076763104872,
|
|
-0.027334894653962646
|
|
],
|
|
"position_mm": [
|
|
401.70836731455506,
|
|
-173.01076763104874,
|
|
-27.334894653962646
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.019083225578663918,
|
|
-0.1892882191605348,
|
|
-0.026659672255270852
|
|
],
|
|
"position_mm": [
|
|
-19.083225578663917,
|
|
-189.2882191605348,
|
|
-26.659672255270852
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3117195395733936,
|
|
-0.1597931580338699,
|
|
-0.02754428468393372
|
|
],
|
|
"position_mm": [
|
|
311.7195395733936,
|
|
-159.7931580338699,
|
|
-27.54428468393372
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5063858122517205,
|
|
-0.3138202304339611,
|
|
-0.02727984306281483
|
|
],
|
|
"position_mm": [
|
|
506.38581225172055,
|
|
-313.8202304339611,
|
|
-27.27984306281483
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6470723160777397,
|
|
-0.18744210669580164,
|
|
-0.02736784190386769
|
|
],
|
|
"position_mm": [
|
|
647.0723160777397,
|
|
-187.44210669580164,
|
|
-27.36784190386769
|
|
],
|
|
"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": [
|
|
0.3719742809586409,
|
|
-0.18438439650270863,
|
|
-0.0277260990879051
|
|
],
|
|
"position_mm": [
|
|
371.97428095864086,
|
|
-184.38439650270863,
|
|
-27.7260990879051
|
|
],
|
|
"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": 102,
|
|
"position_m": [
|
|
0.6516752780302715,
|
|
-0.22415497425437428,
|
|
-0.0274205347301316
|
|
],
|
|
"position_mm": [
|
|
651.6752780302714,
|
|
-224.15497425437428,
|
|
-27.4205347301316
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10474274846051468,
|
|
-0.19073211266983423,
|
|
-0.02733717110987048
|
|
],
|
|
"position_mm": [
|
|
104.74274846051468,
|
|
-190.73211266983424,
|
|
-27.337171109870482
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 114,
|
|
"position_m": [
|
|
0.28321517436517246,
|
|
-0.1490598916844704,
|
|
0.23713381095527059
|
|
],
|
|
"position_mm": [
|
|
283.21517436517246,
|
|
-149.0598916844704,
|
|
237.13381095527058
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 115,
|
|
"position_m": [
|
|
0.23294750525542143,
|
|
-0.16077983156218809,
|
|
0.23638947274339148
|
|
],
|
|
"position_mm": [
|
|
232.94750525542145,
|
|
-160.7798315621881,
|
|
236.38947274339148
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 120,
|
|
"position_m": [
|
|
0.2825086593472818,
|
|
-0.15413043319220388,
|
|
0.16671096005782873
|
|
],
|
|
"position_mm": [
|
|
282.5086593472818,
|
|
-154.13043319220387,
|
|
166.71096005782874
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.16095438565830447,
|
|
-0.05350240787618405,
|
|
0.09158731916876788
|
|
],
|
|
"position_mm": [
|
|
160.95438565830446,
|
|
-53.50240787618405,
|
|
91.58731916876788
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6509996296677141,
|
|
-0.010328613991928769,
|
|
0.0002571903287629399
|
|
],
|
|
"position_mm": [
|
|
650.9996296677141,
|
|
-10.32861399192877,
|
|
0.2571903287629399
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.3528314735792568,
|
|
-0.08950851781520429,
|
|
0.00017654957073532512
|
|
],
|
|
"position_mm": [
|
|
352.8314735792568,
|
|
-89.50851781520429,
|
|
0.17654957073532512
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.022216950226521703,
|
|
-0.020535507464001297,
|
|
0.0014274134752063007
|
|
],
|
|
"position_mm": [
|
|
22.216950226521703,
|
|
-20.5355074640013,
|
|
1.4274134752063008
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.34841790090884717,
|
|
-0.012408376325307608,
|
|
0.000926916435895605
|
|
],
|
|
"position_mm": [
|
|
348.4179009088472,
|
|
-12.408376325307607,
|
|
0.926916435895605
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.16019854982480608,
|
|
-0.17655427788156608,
|
|
0.0473787734524942
|
|
],
|
|
"position_mm": [
|
|
160.1985498248061,
|
|
-176.55427788156607,
|
|
47.3787734524942
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.2497308031523265,
|
|
-0.17688305903124898,
|
|
0.052970281828880784
|
|
],
|
|
"position_mm": [
|
|
249.7308031523265,
|
|
-176.883059031249,
|
|
52.970281828880786
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.2169751503223593,
|
|
-0.17807922811333038,
|
|
0.054118248633492426
|
|
],
|
|
"position_mm": [
|
|
216.9751503223593,
|
|
-178.07922811333037,
|
|
54.11824863349243
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |