617 lines
12 KiB
JSON
617 lines
12 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:28:44Z",
|
|
"summary": {
|
|
"num_cameras": 4,
|
|
"num_markers": 28,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.3014392781131834,
|
|
-0.7976593540300962,
|
|
0.8090873924075274
|
|
],
|
|
"position_mm": [
|
|
-301.4392781131834,
|
|
-797.6593540300962,
|
|
809.0873924075273
|
|
],
|
|
"direction": [
|
|
0.478444904088974,
|
|
0.6539158821105957,
|
|
-0.5860755443572998
|
|
]
|
|
},
|
|
{
|
|
"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": "d",
|
|
"position_m": [
|
|
0.7029130020015959,
|
|
-0.7907698766672966,
|
|
0.4011397354766348
|
|
],
|
|
"position_mm": [
|
|
702.9130020015959,
|
|
-790.7698766672966,
|
|
401.13973547663477
|
|
],
|
|
"direction": [
|
|
-0.5559978485107422,
|
|
0.7807162404060364,
|
|
-0.28521665930747986
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "f",
|
|
"position_m": [
|
|
0.4845048811903778,
|
|
-0.3053365075209884,
|
|
1.403362534392144
|
|
],
|
|
"position_mm": [
|
|
484.50488119037783,
|
|
-305.3365075209884,
|
|
1403.3625343921442
|
|
],
|
|
"direction": [
|
|
-0.2269427329301834,
|
|
0.08483054488897324,
|
|
-0.9702065587043762
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.21431490098411116,
|
|
-0.08034957118178812,
|
|
0.3458834512339026
|
|
],
|
|
"position_mm": [
|
|
214.31490098411115,
|
|
-80.34957118178812,
|
|
345.8834512339026
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.26805171469405853,
|
|
-0.07540063235921464,
|
|
0.34074207024977354
|
|
],
|
|
"position_mm": [
|
|
268.05171469405855,
|
|
-75.40063235921464,
|
|
340.7420702497735
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.3440896700235063,
|
|
-0.285942636392056,
|
|
-0.03345847310206147
|
|
],
|
|
"position_mm": [
|
|
344.0896700235063,
|
|
-285.94263639205604,
|
|
-33.458473102061475
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16704471929887196,
|
|
-0.17375265956862526,
|
|
-0.027077395766711167
|
|
],
|
|
"position_mm": [
|
|
167.04471929887197,
|
|
-173.75265956862526,
|
|
-27.077395766711167
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.4880022049479355,
|
|
0.21076659531908215,
|
|
-0.021671032766368312
|
|
],
|
|
"position_mm": [
|
|
488.0022049479355,
|
|
210.76659531908214,
|
|
-21.671032766368313
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.33942487897722945,
|
|
-0.3290796228206193,
|
|
-0.025604691219566014
|
|
],
|
|
"position_mm": [
|
|
339.42487897722947,
|
|
-329.0796228206193,
|
|
-25.604691219566014
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2842373414880336,
|
|
-0.26124063374947987,
|
|
-0.02689730513568001
|
|
],
|
|
"position_mm": [
|
|
284.23734148803356,
|
|
-261.24063374947985,
|
|
-26.897305135680007
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.5006381843254291,
|
|
0.1683546089632435,
|
|
-0.03138738112026437
|
|
],
|
|
"position_mm": [
|
|
500.63818432542905,
|
|
168.3546089632435,
|
|
-31.387381120264365
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40331241269668794,
|
|
-0.1719749574645186,
|
|
-0.029662709718548612
|
|
],
|
|
"position_mm": [
|
|
403.31241269668794,
|
|
-171.9749574645186,
|
|
-29.662709718548612
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.019587090695354227,
|
|
-0.18830785567670563,
|
|
-0.028173841734707664
|
|
],
|
|
"position_mm": [
|
|
-19.587090695354227,
|
|
-188.30785567670563,
|
|
-28.173841734707665
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005772262433119436,
|
|
-0.27732006921535296,
|
|
-0.02782996830587203
|
|
],
|
|
"position_mm": [
|
|
5.772262433119437,
|
|
-277.320069215353,
|
|
-27.82996830587203
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.4426073451535914,
|
|
0.19448950766939407,
|
|
-0.028301207510834966
|
|
],
|
|
"position_mm": [
|
|
442.6073451535914,
|
|
194.48950766939407,
|
|
-28.301207510834967
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"position_m": [
|
|
-0.026838015702526117,
|
|
0.19199787837997043,
|
|
-0.025997685658855893
|
|
],
|
|
"position_mm": [
|
|
-26.838015702526118,
|
|
191.99787837997042,
|
|
-25.997685658855893
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3123813328231589,
|
|
-0.1592237233833508,
|
|
-0.02429424568259561
|
|
],
|
|
"position_mm": [
|
|
312.3813328231589,
|
|
-159.2237233833508,
|
|
-24.294245682595612
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.506233552118802,
|
|
-0.3152025617323852,
|
|
-0.025746069923820992
|
|
],
|
|
"position_mm": [
|
|
506.23355211880204,
|
|
-315.2025617323852,
|
|
-25.746069923820993
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18650404280699187,
|
|
-0.27551426026361464,
|
|
-0.02783832134127746
|
|
],
|
|
"position_mm": [
|
|
186.50404280699186,
|
|
-275.51426026361463,
|
|
-27.83832134127746
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.36994992459206816,
|
|
-0.18639582052494827,
|
|
-0.02429458491723571
|
|
],
|
|
"position_mm": [
|
|
369.94992459206816,
|
|
-186.39582052494828,
|
|
-24.29458491723571
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10514981645094114,
|
|
-0.19013320979269982,
|
|
-0.02749746142384617
|
|
],
|
|
"position_mm": [
|
|
105.14981645094115,
|
|
-190.13320979269983,
|
|
-27.497461423846172
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.27048972898105006,
|
|
-0.16003866674736145,
|
|
0.2348727876904103
|
|
],
|
|
"position_mm": [
|
|
270.48972898105006,
|
|
-160.03866674736145,
|
|
234.87278769041032
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.17093535265769197,
|
|
-0.051969961066651194,
|
|
0.09146776657687544
|
|
],
|
|
"position_mm": [
|
|
170.93535265769196,
|
|
-51.969961066651194,
|
|
91.46776657687545
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.35279515892515895,
|
|
-0.09131066351537644,
|
|
0.0024225987328829936
|
|
],
|
|
"position_mm": [
|
|
352.79515892515894,
|
|
-91.31066351537643,
|
|
2.4225987328829937
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.021225101102034485,
|
|
-0.020312849371155666,
|
|
0.001463168945307315
|
|
],
|
|
"position_mm": [
|
|
21.225101102034486,
|
|
-20.312849371155664,
|
|
1.463168945307315
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.25292328468543107,
|
|
-0.011193526796203916,
|
|
0.0008042999345517319
|
|
],
|
|
"position_mm": [
|
|
252.92328468543107,
|
|
-11.193526796203916,
|
|
0.8042999345517319
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3475163361880339,
|
|
-0.011502579824557328,
|
|
0.0007489685952837374
|
|
],
|
|
"position_mm": [
|
|
347.5163361880339,
|
|
-11.502579824557328,
|
|
0.7489685952837374
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.16573368339979877,
|
|
-0.14133822918261987,
|
|
0.08218036756736609
|
|
],
|
|
"position_mm": [
|
|
165.73368339979876,
|
|
-141.33822918261987,
|
|
82.18036756736609
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.17063051950778452,
|
|
-0.1752704829521796,
|
|
0.0464784492012562
|
|
],
|
|
"position_mm": [
|
|
170.63051950778453,
|
|
-175.27048295217958,
|
|
46.4784492012562
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.26266031924509853,
|
|
-0.17930265258802922,
|
|
0.05474005878997064
|
|
],
|
|
"position_mm": [
|
|
262.66031924509855,
|
|
-179.30265258802922,
|
|
54.74005878997064
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.2254206117392786,
|
|
-0.17534107918399375,
|
|
0.052801776892847894
|
|
],
|
|
"position_mm": [
|
|
225.4206117392786,
|
|
-175.34107918399374,
|
|
52.8017768928479
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |