636 lines
12 KiB
JSON
636 lines
12 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:29:27Z",
|
|
"summary": {
|
|
"num_cameras": 4,
|
|
"num_markers": 29,
|
|
"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": "e",
|
|
"position_m": [
|
|
1.231553512896588,
|
|
-0.9094105466187785,
|
|
0.39759016852425577
|
|
],
|
|
"position_mm": [
|
|
1231.553512896588,
|
|
-909.4105466187785,
|
|
397.5901685242558
|
|
],
|
|
"direction": [
|
|
-0.7645778059959412,
|
|
0.5944018959999084,
|
|
-0.24921302497386932
|
|
]
|
|
},
|
|
{
|
|
"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": [
|
|
0.26731427985297007,
|
|
-0.07756918947551675,
|
|
0.34468129581416956
|
|
],
|
|
"position_mm": [
|
|
267.31427985297006,
|
|
-77.56918947551675,
|
|
344.6812958141696
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.3440928700104541,
|
|
-0.28593539161506193,
|
|
-0.033453373760304154
|
|
],
|
|
"position_mm": [
|
|
344.0928700104541,
|
|
-285.9353916150619,
|
|
-33.45337376030415
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6867236535837117,
|
|
-0.3181857848233275,
|
|
-0.02878973372259965
|
|
],
|
|
"position_mm": [
|
|
686.7236535837117,
|
|
-318.1857848233275,
|
|
-28.789733722599653
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16661107310249926,
|
|
-0.17480481422196634,
|
|
-0.024966333051983983
|
|
],
|
|
"position_mm": [
|
|
166.61107310249926,
|
|
-174.80481422196632,
|
|
-24.966333051983984
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.48800220494524393,
|
|
0.21076659526465846,
|
|
-0.02167103265932066
|
|
],
|
|
"position_mm": [
|
|
488.00220494524393,
|
|
210.76659526465846,
|
|
-21.67103265932066
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.3394276277309703,
|
|
-0.3290746629366202,
|
|
-0.025612419553494213
|
|
],
|
|
"position_mm": [
|
|
339.4276277309703,
|
|
-329.0746629366202,
|
|
-25.612419553494213
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2842369950912092,
|
|
-0.2612406977808577,
|
|
-0.026897046880248646
|
|
],
|
|
"position_mm": [
|
|
284.2369950912092,
|
|
-261.24069778085766,
|
|
-26.897046880248645
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.500638184318286,
|
|
0.16835460890516976,
|
|
-0.031387381003088
|
|
],
|
|
"position_mm": [
|
|
500.638184318286,
|
|
168.35460890516975,
|
|
-31.387381003088002
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.403293358313016,
|
|
-0.17199688440350436,
|
|
-0.029623233290653635
|
|
],
|
|
"position_mm": [
|
|
403.293358313016,
|
|
-171.99688440350437,
|
|
-29.623233290653637
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7758151742010148,
|
|
-0.23448234305592416,
|
|
-0.028856022816523594
|
|
],
|
|
"position_mm": [
|
|
775.8151742010148,
|
|
-234.48234305592416,
|
|
-28.856022816523595
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.01958709069802373,
|
|
-0.188307855671531,
|
|
-0.02817384174194127
|
|
],
|
|
"position_mm": [
|
|
-19.58709069802373,
|
|
-188.307855671531,
|
|
-28.17384174194127
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.00569157081751516,
|
|
-0.2772992652825177,
|
|
-0.02807223795899304
|
|
],
|
|
"position_mm": [
|
|
5.69157081751516,
|
|
-277.2992652825177,
|
|
-28.072237958993043
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.4426073451486938,
|
|
0.19448950766410886,
|
|
-0.028301207509301908
|
|
],
|
|
"position_mm": [
|
|
442.6073451486938,
|
|
194.48950766410886,
|
|
-28.301207509301907
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"position_m": [
|
|
-0.026838015702372365,
|
|
0.19199787837979673,
|
|
-0.02599768565854669
|
|
],
|
|
"position_mm": [
|
|
-26.838015702372363,
|
|
191.99787837979673,
|
|
-25.99768565854669
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31218465722398014,
|
|
-0.1595310496531994,
|
|
-0.024963725233746018
|
|
],
|
|
"position_mm": [
|
|
312.18465722398014,
|
|
-159.5310496531994,
|
|
-24.96372523374602
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5062335521170224,
|
|
-0.3152025617331963,
|
|
-0.02574606992111321
|
|
],
|
|
"position_mm": [
|
|
506.2335521170224,
|
|
-315.20256173319626,
|
|
-25.74606992111321
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.1865431593111876,
|
|
-0.27643962354054247,
|
|
-0.027747978607874986
|
|
],
|
|
"position_mm": [
|
|
186.5431593111876,
|
|
-276.43962354054247,
|
|
-27.747978607874987
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3699036811486806,
|
|
-0.18637410256029985,
|
|
-0.02430733568198828
|
|
],
|
|
"position_mm": [
|
|
369.9036811486806,
|
|
-186.37410256029986,
|
|
-24.30733568198828
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.650621984812495,
|
|
-0.22412630383837087,
|
|
-0.026623811305593045
|
|
],
|
|
"position_mm": [
|
|
650.621984812495,
|
|
-224.12630383837086,
|
|
-26.623811305593044
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10446335035874621,
|
|
-0.18999305085043053,
|
|
-0.02750486011504899
|
|
],
|
|
"position_mm": [
|
|
104.46335035874621,
|
|
-189.99305085043054,
|
|
-27.50486011504899
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.2663647468537922,
|
|
-0.1673055864286345,
|
|
0.2457634500144893
|
|
],
|
|
"position_mm": [
|
|
266.3647468537922,
|
|
-167.30558642863448,
|
|
245.76345001448928
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.17087375407286404,
|
|
-0.05215722477452678,
|
|
0.0916388894076088
|
|
],
|
|
"position_mm": [
|
|
170.87375407286405,
|
|
-52.15722477452678,
|
|
91.6388894076088
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.35182902385670495,
|
|
-0.09112501063132343,
|
|
0.0016480412694884418
|
|
],
|
|
"position_mm": [
|
|
351.82902385670496,
|
|
-91.12501063132343,
|
|
1.6480412694884419
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.021225101100687187,
|
|
-0.020312849366001876,
|
|
0.0014631689363715972
|
|
],
|
|
"position_mm": [
|
|
21.225101100687187,
|
|
-20.312849366001874,
|
|
1.4631689363715972
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3477314277181255,
|
|
-0.011263330608199673,
|
|
-0.0006585358053516234
|
|
],
|
|
"position_mm": [
|
|
347.7314277181255,
|
|
-11.263330608199674,
|
|
-0.6585358053516234
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.16599683066367873,
|
|
-0.1416885063611023,
|
|
0.08386933735131503
|
|
],
|
|
"position_mm": [
|
|
165.99683066367874,
|
|
-141.6885063611023,
|
|
83.86933735131504
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.17003215962853954,
|
|
-0.17648307643158564,
|
|
0.04889710552046873
|
|
],
|
|
"position_mm": [
|
|
170.03215962853955,
|
|
-176.48307643158566,
|
|
48.89710552046873
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.2593455497934114,
|
|
-0.18813664773314295,
|
|
0.0652995639561788
|
|
],
|
|
"position_mm": [
|
|
259.3455497934114,
|
|
-188.13664773314295,
|
|
65.29956395617879
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |