901 lines
17 KiB
JSON
901 lines
17 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:25:25Z",
|
|
"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": "d",
|
|
"position_m": [
|
|
0.7005523974946344,
|
|
-0.7953874519308782,
|
|
0.40063197730228306
|
|
],
|
|
"position_mm": [
|
|
700.5523974946344,
|
|
-795.3874519308782,
|
|
400.6319773022831
|
|
],
|
|
"direction": [
|
|
-0.5518289804458618,
|
|
0.7841700911521912,
|
|
-0.2838345468044281
|
|
]
|
|
},
|
|
{
|
|
"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": [
|
|
0.2558901263103771,
|
|
-0.14474123790687338,
|
|
0.34647375293696286
|
|
],
|
|
"position_mm": [
|
|
255.8901263103771,
|
|
-144.74123790687338,
|
|
346.47375293696285
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.24286015686666582,
|
|
-0.1752359350094336,
|
|
0.34715611752238507
|
|
],
|
|
"position_mm": [
|
|
242.86015686666582,
|
|
-175.2359350094336,
|
|
347.15611752238505
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 44,
|
|
"position_m": [
|
|
0.2646576133024005,
|
|
-0.17453188155684585,
|
|
0.2975642977112657
|
|
],
|
|
"position_mm": [
|
|
264.65761330240053,
|
|
-174.53188155684586,
|
|
297.5642977112657
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
-0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.536740945577589,
|
|
0.18362448481905602,
|
|
-0.03281552461027122
|
|
],
|
|
"position_mm": [
|
|
536.740945577589,
|
|
183.62448481905602,
|
|
-32.81552461027122
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.3450107660262336,
|
|
-0.2851620107697224,
|
|
-0.03133619670607462
|
|
],
|
|
"position_mm": [
|
|
345.01076602623357,
|
|
-285.16201076972243,
|
|
-31.33619670607462
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6892056501888464,
|
|
-0.32049864477514795,
|
|
-0.02614845431169136
|
|
],
|
|
"position_mm": [
|
|
689.2056501888463,
|
|
-320.49864477514797,
|
|
-26.14845431169136
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16803856356444455,
|
|
-0.173651743563436,
|
|
-0.02716811147142147
|
|
],
|
|
"position_mm": [
|
|
168.03856356444456,
|
|
-173.65174356343599,
|
|
-27.16811147142147
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.48787729866987956,
|
|
0.21121945606202006,
|
|
-0.02443787926805835
|
|
],
|
|
"position_mm": [
|
|
487.87729866987956,
|
|
211.21945606202004,
|
|
-24.43787926805835
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.3404806969290361,
|
|
-0.32877491060225394,
|
|
-0.026685905296426806
|
|
],
|
|
"position_mm": [
|
|
340.48069692903607,
|
|
-328.77491060225395,
|
|
-26.685905296426807
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2847660776453919,
|
|
-0.26084342190001925,
|
|
-0.02749854021637402
|
|
],
|
|
"position_mm": [
|
|
284.76607764539193,
|
|
-260.8434219000192,
|
|
-27.49854021637402
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.4989497782725852,
|
|
0.16735541602869425,
|
|
-0.02692850503729232
|
|
],
|
|
"position_mm": [
|
|
498.9497782725852,
|
|
167.35541602869424,
|
|
-26.92850503729232
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.048725794217417906,
|
|
-0.21679468671499283,
|
|
-0.026686389870686375
|
|
],
|
|
"position_mm": [
|
|
48.725794217417906,
|
|
-216.79468671499282,
|
|
-26.686389870686376
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6269902797384189,
|
|
-0.2781460978924748,
|
|
-0.027005800115625905
|
|
],
|
|
"position_mm": [
|
|
626.990279738419,
|
|
-278.1460978924748,
|
|
-27.005800115625906
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.403633981266216,
|
|
-0.17245144102767426,
|
|
-0.027906631457872092
|
|
],
|
|
"position_mm": [
|
|
403.63398126621604,
|
|
-172.45144102767426,
|
|
-27.90663145787209
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7754504008932536,
|
|
-0.23620737908920061,
|
|
-0.027501775791701214
|
|
],
|
|
"position_mm": [
|
|
775.4504008932536,
|
|
-236.2073790892006,
|
|
-27.501775791701213
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.022675743378764966,
|
|
-0.1871332861066402,
|
|
-0.029344907856535332
|
|
],
|
|
"position_mm": [
|
|
-22.675743378764967,
|
|
-187.1332861066402,
|
|
-29.344907856535333
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"position_m": [
|
|
0.20989171511059845,
|
|
-0.3648188059668274,
|
|
-0.028925165089474344
|
|
],
|
|
"position_mm": [
|
|
209.89171511059845,
|
|
-364.8188059668274,
|
|
-28.925165089474344
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.0050524529191114005,
|
|
-0.27907071200372086,
|
|
-0.027371755904239042
|
|
],
|
|
"position_mm": [
|
|
5.052452919111401,
|
|
-279.07071200372087,
|
|
-27.37175590423904
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.4426423350736884,
|
|
0.19389032991523034,
|
|
-0.0292436471183336
|
|
],
|
|
"position_mm": [
|
|
442.6423350736884,
|
|
193.89032991523032,
|
|
-29.2436471183336
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31161694981538424,
|
|
-0.15801084177189662,
|
|
-0.027266133980385684
|
|
],
|
|
"position_mm": [
|
|
311.61694981538426,
|
|
-158.01084177189662,
|
|
-27.266133980385685
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"position_m": [
|
|
0.2180353591489931,
|
|
0.29670395980929787,
|
|
-0.028336574953221172
|
|
],
|
|
"position_mm": [
|
|
218.0353591489931,
|
|
296.7039598092979,
|
|
-28.336574953221174
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5063711266221695,
|
|
-0.3138538888472446,
|
|
-0.0273204473805987
|
|
],
|
|
"position_mm": [
|
|
506.3711266221695,
|
|
-313.8538888472446,
|
|
-27.3204473805987
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.3618391643850205,
|
|
0.29466987170769615,
|
|
-0.026925174536378462
|
|
],
|
|
"position_mm": [
|
|
361.8391643850205,
|
|
294.66987170769613,
|
|
-26.925174536378464
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6463273360175601,
|
|
-0.1852887163208153,
|
|
-0.027828303456751982
|
|
],
|
|
"position_mm": [
|
|
646.3273360175601,
|
|
-185.2887163208153,
|
|
-27.828303456751982
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.1863096717789569,
|
|
-0.27563550310026824,
|
|
-0.027549939992411294
|
|
],
|
|
"position_mm": [
|
|
186.3096717789569,
|
|
-275.63550310026824,
|
|
-27.549939992411293
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3692288255215542,
|
|
-0.18498916449624417,
|
|
-0.024919824994827908
|
|
],
|
|
"position_mm": [
|
|
369.2288255215542,
|
|
-184.98916449624417,
|
|
-24.91982499482791
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.304341918294763,
|
|
-0.3599796939605006,
|
|
-0.024733025738362602
|
|
],
|
|
"position_mm": [
|
|
304.341918294763,
|
|
-359.97969396050064,
|
|
-24.733025738362603
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6523830228181497,
|
|
-0.22324411593803292,
|
|
-0.027588830967402233
|
|
],
|
|
"position_mm": [
|
|
652.3830228181497,
|
|
-223.24411593803293,
|
|
-27.588830967402235
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10610411210074377,
|
|
-0.18987899353460028,
|
|
-0.027685583346765404
|
|
],
|
|
"position_mm": [
|
|
106.10411210074378,
|
|
-189.87899353460028,
|
|
-27.685583346765405
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 114,
|
|
"position_m": [
|
|
0.2933024634984889,
|
|
-0.17812067008521543,
|
|
0.23412016331037275
|
|
],
|
|
"position_mm": [
|
|
293.30246349848886,
|
|
-178.12067008521544,
|
|
234.12016331037276
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 115,
|
|
"position_m": [
|
|
0.24501466340007141,
|
|
-0.1674626725179861,
|
|
0.23637003226229106
|
|
],
|
|
"position_mm": [
|
|
245.0146634000714,
|
|
-167.4626725179861,
|
|
236.37003226229106
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 120,
|
|
"position_m": [
|
|
0.3276831269808782,
|
|
-0.22589065913906406,
|
|
0.1962232045770783
|
|
],
|
|
"position_mm": [
|
|
327.6831269808782,
|
|
-225.89065913906407,
|
|
196.2232045770783
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.14644032610302776,
|
|
-0.05613190110489951,
|
|
0.09779456415032768
|
|
],
|
|
"position_mm": [
|
|
146.44032610302776,
|
|
-56.13190110489951,
|
|
97.79456415032769
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6510218692445596,
|
|
-0.010187735222807267,
|
|
0.0003606678942927914
|
|
],
|
|
"position_mm": [
|
|
651.0218692445596,
|
|
-10.187735222807268,
|
|
0.3606678942927914
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.35240035153092036,
|
|
-0.09095319203200872,
|
|
0.001004800528625905
|
|
],
|
|
"position_mm": [
|
|
352.4003515309204,
|
|
-90.95319203200872,
|
|
1.004800528625905
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.021693379873208348,
|
|
-0.02017111356853837,
|
|
0.0010083289338908444
|
|
],
|
|
"position_mm": [
|
|
21.693379873208347,
|
|
-20.17111356853837,
|
|
1.0083289338908443
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3478030617230597,
|
|
-0.011088488030268295,
|
|
0.00030365865518905736
|
|
],
|
|
"position_mm": [
|
|
347.80306172305967,
|
|
-11.088488030268294,
|
|
0.3036586551890574
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.6475176379277715,
|
|
-0.09009878758342657,
|
|
-0.0010335720492604817
|
|
],
|
|
"position_mm": [
|
|
647.5176379277715,
|
|
-90.09878758342657,
|
|
-1.0335720492604816
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.16086231498071182,
|
|
-0.1759912652193206,
|
|
0.046491888796936
|
|
],
|
|
"position_mm": [
|
|
160.86231498071183,
|
|
-175.9912652193206,
|
|
46.491888796935996
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"position_m": [
|
|
0.27143354056666846,
|
|
-0.1139018540477204,
|
|
0.038574227153903386
|
|
],
|
|
"position_mm": [
|
|
271.43354056666846,
|
|
-113.90185404772039,
|
|
38.57422715390339
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.2466811973361625,
|
|
-0.1565002810625971,
|
|
0.04335151800702369
|
|
],
|
|
"position_mm": [
|
|
246.6811973361625,
|
|
-156.5002810625971,
|
|
43.35151800702369
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.2179409620618485,
|
|
-0.17805459196612636,
|
|
0.05410620722407602
|
|
],
|
|
"position_mm": [
|
|
217.9409620618485,
|
|
-178.05459196612637,
|
|
54.106207224076016
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |