729 lines
14 KiB
JSON
729 lines
14 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:31:58Z",
|
|
"summary": {
|
|
"num_cameras": 6,
|
|
"num_markers": 32,
|
|
"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": "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": "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": [
|
|
0.2143149009850494,
|
|
-0.08034957117986574,
|
|
0.3458834512312247
|
|
],
|
|
"position_mm": [
|
|
214.3149009850494,
|
|
-80.34957117986575,
|
|
345.88345123122474
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.26805171469257444,
|
|
-0.07540063235757868,
|
|
0.34074207024977193
|
|
],
|
|
"position_mm": [
|
|
268.0517146925744,
|
|
-75.40063235757869,
|
|
340.7420702497719
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.34409173117260927,
|
|
-0.28591819333052315,
|
|
-0.03354280709608712
|
|
],
|
|
"position_mm": [
|
|
344.0917311726093,
|
|
-285.91819333052314,
|
|
-33.54280709608712
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6867236535869299,
|
|
-0.31818578482688015,
|
|
-0.028789733720117946
|
|
],
|
|
"position_mm": [
|
|
686.7236535869299,
|
|
-318.18578482688014,
|
|
-28.789733720117948
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16787970318945383,
|
|
-0.17367276009686883,
|
|
-0.027030920909435017
|
|
],
|
|
"position_mm": [
|
|
167.87970318945383,
|
|
-173.67276009686884,
|
|
-27.030920909435018
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.48800211976840335,
|
|
0.21076618366043878,
|
|
-0.021669658689650255
|
|
],
|
|
"position_mm": [
|
|
488.00211976840336,
|
|
210.76618366043877,
|
|
-21.669658689650255
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.33944122667227306,
|
|
-0.32904938090970864,
|
|
-0.025648801432787968
|
|
],
|
|
"position_mm": [
|
|
339.44122667227305,
|
|
-329.04938090970865,
|
|
-25.648801432787966
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2842383828524411,
|
|
-0.26124146437648404,
|
|
-0.026896391138499967
|
|
],
|
|
"position_mm": [
|
|
284.2383828524411,
|
|
-261.24146437648403,
|
|
-26.89639113849997
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.5006383049546542,
|
|
0.16835477555019077,
|
|
-0.03138826221928473
|
|
],
|
|
"position_mm": [
|
|
500.63830495465425,
|
|
168.35477555019077,
|
|
-31.38826221928473
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.048471461130401974,
|
|
-0.21646523918228944,
|
|
-0.02804452238786782
|
|
],
|
|
"position_mm": [
|
|
48.47146113040198,
|
|
-216.46523918228945,
|
|
-28.04452238786782
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4035977874772314,
|
|
-0.1709163858464914,
|
|
-0.029742388011300098
|
|
],
|
|
"position_mm": [
|
|
403.5977874772314,
|
|
-170.9163858464914,
|
|
-29.742388011300097
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.775815174201418,
|
|
-0.23448234305776583,
|
|
-0.028856022815528796
|
|
],
|
|
"position_mm": [
|
|
775.815174201418,
|
|
-234.48234305776583,
|
|
-28.856022815528796
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.022426965079854626,
|
|
-0.18551563093880433,
|
|
-0.028806074839837797
|
|
],
|
|
"position_mm": [
|
|
-22.426965079854625,
|
|
-185.51563093880432,
|
|
-28.806074839837798
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005278746247264421,
|
|
-0.27907423636175366,
|
|
-0.027246093154335092
|
|
],
|
|
"position_mm": [
|
|
5.27874624726442,
|
|
-279.07423636175366,
|
|
-27.246093154335092
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.44260731530082464,
|
|
0.19448954146998448,
|
|
-0.028301305498720612
|
|
],
|
|
"position_mm": [
|
|
442.60731530082467,
|
|
194.4895414699845,
|
|
-28.301305498720613
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"position_m": [
|
|
-0.0268380157058966,
|
|
0.1919978783854355,
|
|
-0.025997685668853673
|
|
],
|
|
"position_mm": [
|
|
-26.838015705896602,
|
|
191.9978783854355,
|
|
-25.997685668853673
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31299628725612044,
|
|
-0.15882875420741174,
|
|
-0.026885260031473186
|
|
],
|
|
"position_mm": [
|
|
312.99628725612047,
|
|
-158.82875420741175,
|
|
-26.885260031473187
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5062335521132686,
|
|
-0.3152025617386562,
|
|
-0.025746069909754532
|
|
],
|
|
"position_mm": [
|
|
506.2335521132686,
|
|
-315.2025617386562,
|
|
-25.74606990975453
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18653226758136315,
|
|
-0.27558535116117994,
|
|
-0.027787519630856357
|
|
],
|
|
"position_mm": [
|
|
186.53226758136316,
|
|
-275.5853511611799,
|
|
-27.787519630856355
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3704095856483286,
|
|
-0.18632376664535794,
|
|
-0.02642809528126614
|
|
],
|
|
"position_mm": [
|
|
370.4095856483286,
|
|
-186.32376664535795,
|
|
-26.428095281266142
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6506219848125658,
|
|
-0.22412630383841795,
|
|
-0.026623811305582574
|
|
],
|
|
"position_mm": [
|
|
650.6219848125659,
|
|
-224.12630383841795,
|
|
-26.623811305582574
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10585388521011217,
|
|
-0.18954233123682984,
|
|
-0.027680425431191893
|
|
],
|
|
"position_mm": [
|
|
105.85388521011217,
|
|
-189.54233123682985,
|
|
-27.680425431191892
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.27312877346729875,
|
|
-0.16438098169285098,
|
|
0.23613634419684118
|
|
],
|
|
"position_mm": [
|
|
273.12877346729874,
|
|
-164.38098169285098,
|
|
236.13634419684118
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.1709567922393441,
|
|
-0.05190496290279242,
|
|
0.09140786747619299
|
|
],
|
|
"position_mm": [
|
|
170.95679223934408,
|
|
-51.90496290279242,
|
|
91.40786747619299
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.3527040872459674,
|
|
-0.09153878206992012,
|
|
0.002348374632054494
|
|
],
|
|
"position_mm": [
|
|
352.7040872459674,
|
|
-91.53878206992013,
|
|
2.3483746320544943
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.02155307061153668,
|
|
-0.018106079948612262,
|
|
-0.0004143022322805399
|
|
],
|
|
"position_mm": [
|
|
21.55307061153668,
|
|
-18.106079948612262,
|
|
-0.41430223228053986
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.252923284684936,
|
|
-0.011193526795356748,
|
|
0.000804299933873012
|
|
],
|
|
"position_mm": [
|
|
252.92328468493602,
|
|
-11.193526795356748,
|
|
0.804299933873012
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.34758159355868007,
|
|
-0.011716203409925298,
|
|
0.0008944768465034303
|
|
],
|
|
"position_mm": [
|
|
347.5815935586801,
|
|
-11.716203409925297,
|
|
0.8944768465034304
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.1655584136644331,
|
|
-0.14112044613605498,
|
|
0.08085061984705949
|
|
],
|
|
"position_mm": [
|
|
165.55841366443312,
|
|
-141.120446136055,
|
|
80.85061984705949
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.1717795574316182,
|
|
-0.17544795621831505,
|
|
0.04573760019353064
|
|
],
|
|
"position_mm": [
|
|
171.7795574316182,
|
|
-175.44795621831506,
|
|
45.73760019353064
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.2637409899433353,
|
|
-0.18393130452119832,
|
|
0.055469181099088126
|
|
],
|
|
"position_mm": [
|
|
263.7409899433353,
|
|
-183.9313045211983,
|
|
55.469181099088125
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.22724909476554014,
|
|
-0.17605598301758554,
|
|
0.05192398438067639
|
|
],
|
|
"position_mm": [
|
|
227.24909476554015,
|
|
-176.05598301758553,
|
|
51.923984380676394
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |