901 lines
17 KiB
JSON
901 lines
17 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:25:42Z",
|
|
"summary": {
|
|
"num_cameras": 5,
|
|
"num_markers": 42,
|
|
"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
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "g",
|
|
"position_m": [
|
|
-0.2072035888495123,
|
|
0.2035164095056965,
|
|
1.4022641029137521
|
|
],
|
|
"position_mm": [
|
|
-207.2035888495123,
|
|
203.5164095056965,
|
|
1402.2641029137521
|
|
],
|
|
"direction": [
|
|
0.30012577772140503,
|
|
-0.29805290699005127,
|
|
-0.906139612197876
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 41,
|
|
"position_m": [
|
|
0.2558901263102675,
|
|
-0.14474123790660798,
|
|
0.34647375293764776
|
|
],
|
|
"position_mm": [
|
|
255.89012631026748,
|
|
-144.74123790660798,
|
|
346.47375293764776
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.24303674465995018,
|
|
-0.17550296462568024,
|
|
0.3464358682729477
|
|
],
|
|
"position_mm": [
|
|
243.0367446599502,
|
|
-175.50296462568025,
|
|
346.4358682729477
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 44,
|
|
"position_m": [
|
|
0.2644832017751277,
|
|
-0.17258091525134536,
|
|
0.297759873465687
|
|
],
|
|
"position_mm": [
|
|
264.48320177512767,
|
|
-172.58091525134537,
|
|
297.759873465687
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
-0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 45,
|
|
"position_m": [
|
|
0.2544903010379596,
|
|
-0.19446874936146932,
|
|
0.3386169261484688
|
|
],
|
|
"position_mm": [
|
|
254.4903010379596,
|
|
-194.46874936146932,
|
|
338.6169261484688
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
-0.8830215713766957,
|
|
-0.3090575499818435,
|
|
-0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.5367410429688062,
|
|
0.18362458034668397,
|
|
-0.032816199195738714
|
|
],
|
|
"position_mm": [
|
|
536.7410429688063,
|
|
183.62458034668396,
|
|
-32.81619919573871
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.34492235330549353,
|
|
-0.2852986648751018,
|
|
-0.031259473643885684
|
|
],
|
|
"position_mm": [
|
|
344.9223533054935,
|
|
-285.2986648751018,
|
|
-31.259473643885684
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6892056502431563,
|
|
-0.32049864483657714,
|
|
-0.02614845427119459
|
|
],
|
|
"position_mm": [
|
|
689.2056502431562,
|
|
-320.4986448365771,
|
|
-26.148454271194588
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16747644622320634,
|
|
-0.17406072912215853,
|
|
-0.027004422646240422
|
|
],
|
|
"position_mm": [
|
|
167.47644622320635,
|
|
-174.06072912215853,
|
|
-27.00442264624042
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.48787714494256346,
|
|
0.21121934882859902,
|
|
-0.024436942169845533
|
|
],
|
|
"position_mm": [
|
|
487.87714494256346,
|
|
211.219348828599,
|
|
-24.436942169845533
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.3404760747624252,
|
|
-0.32891610407026856,
|
|
-0.026571150661477024
|
|
],
|
|
"position_mm": [
|
|
340.4760747624252,
|
|
-328.91610407026855,
|
|
-26.571150661477024
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.284729469850658,
|
|
-0.26084508176524884,
|
|
-0.02746702403874165
|
|
],
|
|
"position_mm": [
|
|
284.729469850658,
|
|
-260.84508176524884,
|
|
-27.46702403874165
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.49894994316623287,
|
|
0.16735546364814302,
|
|
-0.026928878674705396
|
|
],
|
|
"position_mm": [
|
|
498.94994316623286,
|
|
167.35546364814303,
|
|
-26.928878674705395
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.04912057859405444,
|
|
-0.21881747660590475,
|
|
-0.02536888739361727
|
|
],
|
|
"position_mm": [
|
|
49.12057859405444,
|
|
-218.81747660590474,
|
|
-25.36888739361727
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6269902798053955,
|
|
-0.27814609793516326,
|
|
-0.02700580006851924
|
|
],
|
|
"position_mm": [
|
|
626.9902798053954,
|
|
-278.14609793516325,
|
|
-27.00580006851924
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40391805793917057,
|
|
-0.17145554619037334,
|
|
-0.02857980425753455
|
|
],
|
|
"position_mm": [
|
|
403.9180579391706,
|
|
-171.45554619037335,
|
|
-28.57980425753455
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7754504008931788,
|
|
-0.23620737908911119,
|
|
-0.027501775791519762
|
|
],
|
|
"position_mm": [
|
|
775.4504008931789,
|
|
-236.20737908911119,
|
|
-27.501775791519762
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.021337777656323543,
|
|
-0.18699117841009497,
|
|
-0.02815298912318643
|
|
],
|
|
"position_mm": [
|
|
-21.337777656323542,
|
|
-186.99117841009496,
|
|
-28.15298912318643
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"position_m": [
|
|
0.20987063522575858,
|
|
-0.3651236043277319,
|
|
-0.029572364909168324
|
|
],
|
|
"position_mm": [
|
|
209.87063522575858,
|
|
-365.12360432773187,
|
|
-29.572364909168325
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.004486943100597706,
|
|
-0.27997741761000944,
|
|
-0.03268009241151352
|
|
],
|
|
"position_mm": [
|
|
4.486943100597705,
|
|
-279.9774176100094,
|
|
-32.68009241151352
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.4426422470955622,
|
|
0.193890305725,
|
|
-0.029243628324881237
|
|
],
|
|
"position_mm": [
|
|
442.6422470955622,
|
|
193.890305725,
|
|
-29.243628324881236
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3122722581274552,
|
|
-0.15824160728226858,
|
|
-0.028273784770355977
|
|
],
|
|
"position_mm": [
|
|
312.2722581274552,
|
|
-158.24160728226857,
|
|
-28.273784770355977
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5063711266222811,
|
|
-0.3138538888473726,
|
|
-0.02732044738058608
|
|
],
|
|
"position_mm": [
|
|
506.3711266222811,
|
|
-313.85388884737256,
|
|
-27.32044738058608
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.36164219485337273,
|
|
0.2946397883923005,
|
|
-0.026782162746937243
|
|
],
|
|
"position_mm": [
|
|
361.64219485337276,
|
|
294.6397883923005,
|
|
-26.782162746937242
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.646327336018512,
|
|
-0.1852887163123954,
|
|
-0.02782830346070107
|
|
],
|
|
"position_mm": [
|
|
646.327336018512,
|
|
-185.2887163123954,
|
|
-27.82830346070107
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18644490878583123,
|
|
-0.27591733299146964,
|
|
-0.02730498589350628
|
|
],
|
|
"position_mm": [
|
|
186.44490878583122,
|
|
-275.91733299146966,
|
|
-27.30498589350628
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3699094402016854,
|
|
-0.18521694413517653,
|
|
-0.026614617476323134
|
|
],
|
|
"position_mm": [
|
|
369.9094402016854,
|
|
-185.21694413517653,
|
|
-26.614617476323133
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.3042724618033456,
|
|
-0.36004683512341423,
|
|
-0.02463747976400378
|
|
],
|
|
"position_mm": [
|
|
304.2724618033456,
|
|
-360.0468351234142,
|
|
-24.637479764003782
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6523830227850848,
|
|
-0.2232441159351107,
|
|
-0.027588830982520785
|
|
],
|
|
"position_mm": [
|
|
652.3830227850848,
|
|
-223.2441159351107,
|
|
-27.588830982520786
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10542205181813806,
|
|
-0.18980746974393495,
|
|
-0.02787905790072834
|
|
],
|
|
"position_mm": [
|
|
105.42205181813806,
|
|
-189.80746974393494,
|
|
-27.87905790072834
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 114,
|
|
"position_m": [
|
|
0.2819622744395303,
|
|
-0.14932258184603883,
|
|
0.23652950092525915
|
|
],
|
|
"position_mm": [
|
|
281.9622744395303,
|
|
-149.32258184603884,
|
|
236.52950092525916
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 115,
|
|
"position_m": [
|
|
0.23359579566343344,
|
|
-0.15985143397166984,
|
|
0.23623540333961185
|
|
],
|
|
"position_mm": [
|
|
233.59579566343345,
|
|
-159.85143397166985,
|
|
236.23540333961185
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 120,
|
|
"position_m": [
|
|
0.28257055720651797,
|
|
-0.15454723644412657,
|
|
0.16672738243167998
|
|
],
|
|
"position_mm": [
|
|
282.57055720651795,
|
|
-154.54723644412658,
|
|
166.72738243167998
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.16063475198322139,
|
|
-0.053487491317555876,
|
|
0.09124080697721274
|
|
],
|
|
"position_mm": [
|
|
160.63475198322138,
|
|
-53.48749131755588,
|
|
91.24080697721274
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6510218692418701,
|
|
-0.010187735213504889,
|
|
0.00036066789025394327
|
|
],
|
|
"position_mm": [
|
|
651.0218692418701,
|
|
-10.187735213504888,
|
|
0.36066789025394325
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.3525403531609698,
|
|
-0.09098132225850397,
|
|
0.0002531432667182786
|
|
],
|
|
"position_mm": [
|
|
352.5403531609698,
|
|
-90.98132225850397,
|
|
0.2531432667182786
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.021945331405519197,
|
|
-0.019479918727405673,
|
|
0.0007061741457932543
|
|
],
|
|
"position_mm": [
|
|
21.945331405519198,
|
|
-19.47991872740567,
|
|
0.7061741457932542
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3485991816950973,
|
|
-0.011078528962914577,
|
|
0.0001638826460562233
|
|
],
|
|
"position_mm": [
|
|
348.5991816950973,
|
|
-11.078528962914577,
|
|
0.1638826460562233
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.6475176379365293,
|
|
-0.0900987875745963,
|
|
-0.0010335720550138435
|
|
],
|
|
"position_mm": [
|
|
647.5176379365292,
|
|
-90.0987875745963,
|
|
-1.0335720550138434
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.157904194461997,
|
|
-0.14324162242197758,
|
|
0.08517891535476899
|
|
],
|
|
"position_mm": [
|
|
157.904194461997,
|
|
-143.24162242197758,
|
|
85.17891535476899
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.16074618288702236,
|
|
-0.17457871671084035,
|
|
0.04696993275702429
|
|
],
|
|
"position_mm": [
|
|
160.74618288702237,
|
|
-174.57871671084035,
|
|
46.96993275702429
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.25164446514097577,
|
|
-0.1779955973612415,
|
|
0.05295559650609851
|
|
],
|
|
"position_mm": [
|
|
251.64446514097577,
|
|
-177.9955973612415,
|
|
52.95559650609851
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.21464152547792786,
|
|
-0.17220685254783782,
|
|
0.05108219451643243
|
|
],
|
|
"position_mm": [
|
|
214.64152547792787,
|
|
-172.20685254783783,
|
|
51.08219451643243
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |