277 lines
5.2 KiB
JSON
277 lines
5.2 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-03T04:28:12Z",
|
|
"summary": {
|
|
"num_cameras": 3,
|
|
"num_markers": 11,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "b",
|
|
"position_m": [
|
|
0.3044963064856628,
|
|
-0.8948174327872729,
|
|
1.2012475383268955
|
|
],
|
|
"position_mm": [
|
|
304.4963064856628,
|
|
-894.8174327872729,
|
|
1201.2475383268954
|
|
],
|
|
"direction": [
|
|
0.005024135112762451,
|
|
0.6242465972900391,
|
|
-0.7812111973762512
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "c",
|
|
"position_m": [
|
|
0.3287264582676568,
|
|
-0.9186429714357892,
|
|
0.3564346556463644
|
|
],
|
|
"position_mm": [
|
|
328.72645826765677,
|
|
-918.6429714357893,
|
|
356.4346556463644
|
|
],
|
|
"direction": [
|
|
-0.13607342541217804,
|
|
0.9607956409454346,
|
|
-0.24156945943832397
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "e",
|
|
"position_m": [
|
|
1.231553512896588,
|
|
-0.9094105466187785,
|
|
0.39759016852425577
|
|
],
|
|
"position_mm": [
|
|
1231.553512896588,
|
|
-909.4105466187785,
|
|
397.5901685242558
|
|
],
|
|
"direction": [
|
|
-0.7645778059959412,
|
|
0.5944018959999084,
|
|
-0.24921302497386932
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6868420791931743,
|
|
-0.3179988481385965,
|
|
-0.02865563495419314
|
|
],
|
|
"position_mm": [
|
|
686.8420791931743,
|
|
-317.99884813859654,
|
|
-28.65563495419314
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4020538872316125,
|
|
-0.17246638857046356,
|
|
-0.02848945791359669
|
|
],
|
|
"position_mm": [
|
|
402.0538872316125,
|
|
-172.46638857046355,
|
|
-28.48945791359669
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7756293236899854,
|
|
-0.23474314041978492,
|
|
-0.029090069045834624
|
|
],
|
|
"position_mm": [
|
|
775.6293236899854,
|
|
-234.7431404197849,
|
|
-29.090069045834625
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.019024977430394392,
|
|
-0.19021801300635816,
|
|
-0.02541537540234747
|
|
],
|
|
"position_mm": [
|
|
-19.024977430394394,
|
|
-190.21801300635815,
|
|
-25.41537540234747
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31196379513925226,
|
|
-0.16030927033602851,
|
|
-0.02659492667414498
|
|
],
|
|
"position_mm": [
|
|
311.9637951392523,
|
|
-160.3092703360285,
|
|
-26.59492667414498
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.37205975699696053,
|
|
-0.18334366336712074,
|
|
-0.028933959566157366
|
|
],
|
|
"position_mm": [
|
|
372.0597569969605,
|
|
-183.34366336712074,
|
|
-28.933959566157366
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6506091012667813,
|
|
-0.2241454371315432,
|
|
-0.026638961499146848
|
|
],
|
|
"position_mm": [
|
|
650.6091012667813,
|
|
-224.1454371315432,
|
|
-26.63896149914685
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10534719551455858,
|
|
-0.19086740374532335,
|
|
-0.0269790037822508
|
|
],
|
|
"position_mm": [
|
|
105.34719551455858,
|
|
-190.86740374532334,
|
|
-26.9790037822508
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.27085396416470664,
|
|
-0.1734346319105136,
|
|
0.2506400057717821
|
|
],
|
|
"position_mm": [
|
|
270.85396416470667,
|
|
-173.4346319105136,
|
|
250.64000577178209
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.17143763771464457,
|
|
-0.1748588653762262,
|
|
0.044476160878953126
|
|
],
|
|
"position_mm": [
|
|
171.43763771464458,
|
|
-174.8588653762262,
|
|
44.476160878953124
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.25942728567003903,
|
|
-0.18804859677937846,
|
|
0.0653983281156617
|
|
],
|
|
"position_mm": [
|
|
259.42728567003905,
|
|
-188.04859677937847,
|
|
65.3983281156617
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |