636 lines
12 KiB
JSON
636 lines
12 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:28:37Z",
|
|
"summary": {
|
|
"num_cameras": 4,
|
|
"num_markers": 29,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"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": "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
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "g",
|
|
"position_m": [
|
|
-0.20770381032232174,
|
|
0.20442134232445805,
|
|
1.4010649939179851
|
|
],
|
|
"position_mm": [
|
|
-207.70381032232174,
|
|
204.42134232445804,
|
|
1401.064993917985
|
|
],
|
|
"direction": [
|
|
0.3006979525089264,
|
|
-0.2988070547580719,
|
|
-0.9057013988494873
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 41,
|
|
"position_m": [
|
|
0.24527122335314627,
|
|
-0.11141046816145964,
|
|
0.3445433149066746
|
|
],
|
|
"position_mm": [
|
|
245.27122335314627,
|
|
-111.41046816145963,
|
|
344.5433149066746
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.21188115580614061,
|
|
-0.07781365848223261,
|
|
0.34240015294937853
|
|
],
|
|
"position_mm": [
|
|
211.8811558061406,
|
|
-77.81365848223261,
|
|
342.40015294937854
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.26667321677535566,
|
|
-0.07520516320575274,
|
|
0.3387759808964014
|
|
],
|
|
"position_mm": [
|
|
266.6732167753557,
|
|
-75.20516320575274,
|
|
338.7759808964014
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.5367918215044791,
|
|
0.18322697406494887,
|
|
-0.03214145637227154
|
|
],
|
|
"position_mm": [
|
|
536.7918215044791,
|
|
183.22697406494888,
|
|
-32.14145637227154
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.3439554729627654,
|
|
-0.28641387293407433,
|
|
-0.023050776402020204
|
|
],
|
|
"position_mm": [
|
|
343.9554729627654,
|
|
-286.41387293407433,
|
|
-23.050776402020205
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.4877996090644855,
|
|
0.21117736928658357,
|
|
-0.02408977710941635
|
|
],
|
|
"position_mm": [
|
|
487.7996090644855,
|
|
211.17736928658357,
|
|
-24.08977710941635
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.34109457191197956,
|
|
-0.329013704022301,
|
|
-0.03406492087001525
|
|
],
|
|
"position_mm": [
|
|
341.0945719119796,
|
|
-329.013704022301,
|
|
-34.06492087001525
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.28416515141944104,
|
|
-0.2609764158778104,
|
|
-0.026737693805958664
|
|
],
|
|
"position_mm": [
|
|
284.16515141944103,
|
|
-260.9764158778104,
|
|
-26.737693805958664
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.49881506876856807,
|
|
0.1672961510565173,
|
|
-0.02653011258330294
|
|
],
|
|
"position_mm": [
|
|
498.8150687685681,
|
|
167.2961510565173,
|
|
-26.530112583302937
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.04903011204462669,
|
|
-0.21699215473601888,
|
|
-0.027796313975392267
|
|
],
|
|
"position_mm": [
|
|
49.03011204462669,
|
|
-216.99215473601888,
|
|
-27.796313975392266
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40340391731494263,
|
|
-0.17061697404744422,
|
|
-0.029607743150429442
|
|
],
|
|
"position_mm": [
|
|
403.40391731494265,
|
|
-170.61697404744422,
|
|
-29.607743150429442
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.02197682835374556,
|
|
-0.18628416385449564,
|
|
-0.02752217434882878
|
|
],
|
|
"position_mm": [
|
|
-21.97682835374556,
|
|
-186.28416385449563,
|
|
-27.522174348828777
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"position_m": [
|
|
0.21060849077811197,
|
|
-0.3644949345134904,
|
|
-0.027773886092832784
|
|
],
|
|
"position_mm": [
|
|
210.60849077811199,
|
|
-364.4949345134904,
|
|
-27.773886092832786
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"position_m": [
|
|
0.575357315718253,
|
|
0.17405934646340027,
|
|
-0.02787787448842734
|
|
],
|
|
"position_mm": [
|
|
575.357315718253,
|
|
174.05934646340026,
|
|
-27.87787448842734
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005054901762350405,
|
|
-0.2790588561613081,
|
|
-0.027594317726134535
|
|
],
|
|
"position_mm": [
|
|
5.054901762350405,
|
|
-279.0588561613081,
|
|
-27.594317726134534
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.4426203862321783,
|
|
0.19374091123597956,
|
|
-0.02902980301821152
|
|
],
|
|
"position_mm": [
|
|
442.6203862321783,
|
|
193.74091123597955,
|
|
-29.02980301821152
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3133165942514201,
|
|
-0.15867134263702165,
|
|
-0.026842844683159145
|
|
],
|
|
"position_mm": [
|
|
313.3165942514201,
|
|
-158.67134263702164,
|
|
-26.842844683159147
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18650624763510554,
|
|
-0.27544079919423775,
|
|
-0.02744388043552518
|
|
],
|
|
"position_mm": [
|
|
186.50624763510552,
|
|
-275.44079919423774,
|
|
-27.44388043552518
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3704750658614209,
|
|
-0.1866957434694584,
|
|
-0.026962939141023698
|
|
],
|
|
"position_mm": [
|
|
370.47506586142094,
|
|
-186.6957434694584,
|
|
-26.962939141023696
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.3050874584943058,
|
|
-0.35913981128673544,
|
|
-0.025150040353401532
|
|
],
|
|
"position_mm": [
|
|
305.0874584943058,
|
|
-359.13981128673544,
|
|
-25.150040353401533
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10691245154835673,
|
|
-0.19119146401926732,
|
|
-0.026500090659581362
|
|
],
|
|
"position_mm": [
|
|
106.91245154835673,
|
|
-191.19146401926733,
|
|
-26.500090659581364
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.274430820190121,
|
|
-0.16383025371468596,
|
|
0.23417647915329073
|
|
],
|
|
"position_mm": [
|
|
274.430820190121,
|
|
-163.83025371468597,
|
|
234.17647915329073
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.35235282653139816,
|
|
-0.09065265438138582,
|
|
0.001598049559005573
|
|
],
|
|
"position_mm": [
|
|
352.35282653139814,
|
|
-90.65265438138583,
|
|
1.598049559005573
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.2529232846852919,
|
|
-0.011193526795691666,
|
|
0.0008042999342690652
|
|
],
|
|
"position_mm": [
|
|
252.92328468529192,
|
|
-11.193526795691666,
|
|
0.8042999342690652
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.34716055298803605,
|
|
-0.01083037916266186,
|
|
0.00039757087830726213
|
|
],
|
|
"position_mm": [
|
|
347.16055298803605,
|
|
-10.830379162661862,
|
|
0.3975708783072621
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.16617692155442593,
|
|
-0.14306682293578488,
|
|
0.08135834835865356
|
|
],
|
|
"position_mm": [
|
|
166.17692155442592,
|
|
-143.06682293578487,
|
|
81.35834835865356
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.17292302431316084,
|
|
-0.17771729875631662,
|
|
0.04666198241781753
|
|
],
|
|
"position_mm": [
|
|
172.92302431316085,
|
|
-177.7172987563166,
|
|
46.661982417817526
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.2641767175285434,
|
|
-0.1821927316045629,
|
|
0.05400973485856421
|
|
],
|
|
"position_mm": [
|
|
264.1767175285434,
|
|
-182.1927316045629,
|
|
54.00973485856421
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.22717056591410567,
|
|
-0.17647626776195746,
|
|
0.05198248280726234
|
|
],
|
|
"position_mm": [
|
|
227.17056591410568,
|
|
-176.47626776195747,
|
|
51.982482807262336
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |