939 lines
18 KiB
JSON
939 lines
18 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-03T04:31:15Z",
|
|
"summary": {
|
|
"num_cameras": 6,
|
|
"num_markers": 43,
|
|
"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": "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": [
|
|
0.24424156087155097,
|
|
-0.11113845224933411,
|
|
0.3453486219452862
|
|
],
|
|
"position_mm": [
|
|
244.24156087155097,
|
|
-111.13845224933411,
|
|
345.3486219452862
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.2155253863568528,
|
|
-0.07709468980656205,
|
|
0.3411342538476807
|
|
],
|
|
"position_mm": [
|
|
215.5253863568528,
|
|
-77.09468980656204,
|
|
341.1342538476807
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.268263903144687,
|
|
-0.07514973955436152,
|
|
0.338461926015838
|
|
],
|
|
"position_mm": [
|
|
268.263903144687,
|
|
-75.14973955436152,
|
|
338.461926015838
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.5349160408499765,
|
|
0.18234189575069198,
|
|
-0.028134117980750706
|
|
],
|
|
"position_mm": [
|
|
534.9160408499764,
|
|
182.34189575069198,
|
|
-28.134117980750705
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.3437162171279696,
|
|
-0.2883484503263533,
|
|
-0.027598773853771005
|
|
],
|
|
"position_mm": [
|
|
343.7162171279696,
|
|
-288.3484503263533,
|
|
-27.598773853771004
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6865564759202645,
|
|
-0.31838121469277886,
|
|
-0.02665956687621106
|
|
],
|
|
"position_mm": [
|
|
686.5564759202645,
|
|
-318.3812146927789,
|
|
-26.659566876211063
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16771788217228745,
|
|
-0.17251892518430356,
|
|
-0.027592545532380573
|
|
],
|
|
"position_mm": [
|
|
167.71788217228746,
|
|
-172.51892518430355,
|
|
-27.592545532380573
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.4880547314579063,
|
|
0.21431869998516823,
|
|
-0.026903192924574923
|
|
],
|
|
"position_mm": [
|
|
488.0547314579063,
|
|
214.31869998516822,
|
|
-26.903192924574924
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.33977158818771214,
|
|
-0.3278190923866271,
|
|
-0.02721821627536981
|
|
],
|
|
"position_mm": [
|
|
339.77158818771215,
|
|
-327.8190923866271,
|
|
-27.21821627536981
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2844868157699038,
|
|
-0.2612335774423501,
|
|
-0.026758658816567745
|
|
],
|
|
"position_mm": [
|
|
284.4868157699038,
|
|
-261.2335774423501,
|
|
-26.758658816567745
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.5000771995937722,
|
|
0.16484606018672954,
|
|
-0.02707356175246105
|
|
],
|
|
"position_mm": [
|
|
500.07719959377215,
|
|
164.84606018672955,
|
|
-27.07356175246105
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.04809199542409825,
|
|
-0.2169530344276507,
|
|
-0.027973412574746573
|
|
],
|
|
"position_mm": [
|
|
48.09199542409825,
|
|
-216.95303442765072,
|
|
-27.973412574746572
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6272191582219071,
|
|
-0.27667021127653646,
|
|
-0.026759373093189178
|
|
],
|
|
"position_mm": [
|
|
627.2191582219072,
|
|
-276.67021127653646,
|
|
-26.75937309318918
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4021786712058468,
|
|
-0.17311803798198852,
|
|
-0.02811880870688738
|
|
],
|
|
"position_mm": [
|
|
402.17867120584685,
|
|
-173.11803798198852,
|
|
-28.118808706887382
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7745707324705065,
|
|
-0.2365917031525859,
|
|
-0.02675299809135075
|
|
],
|
|
"position_mm": [
|
|
774.5707324705064,
|
|
-236.5917031525859,
|
|
-26.75299809135075
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.01924597703393205,
|
|
-0.18967569016213118,
|
|
-0.02569609044602598
|
|
],
|
|
"position_mm": [
|
|
-19.24597703393205,
|
|
-189.6756901621312,
|
|
-25.69609044602598
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"position_m": [
|
|
0.20965800678079566,
|
|
-0.36359892030006996,
|
|
-0.026610342195826982
|
|
],
|
|
"position_mm": [
|
|
209.65800678079566,
|
|
-363.59892030006995,
|
|
-26.61034219582698
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"position_m": [
|
|
0.5756078573251585,
|
|
0.17400025059344906,
|
|
-0.028143914858155854
|
|
],
|
|
"position_mm": [
|
|
575.6078573251585,
|
|
174.00025059344907,
|
|
-28.143914858155853
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.006053459569484012,
|
|
-0.27792432757527125,
|
|
-0.027436351921906604
|
|
],
|
|
"position_mm": [
|
|
6.053459569484012,
|
|
-277.92432757527126,
|
|
-27.436351921906603
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"position_m": [
|
|
0.7510046562586005,
|
|
-0.2852999304436316,
|
|
-0.02683128141123431
|
|
],
|
|
"position_mm": [
|
|
751.0046562586004,
|
|
-285.29993044363164,
|
|
-26.831281411234308
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.44129937251044626,
|
|
0.19299275438480906,
|
|
-0.026971517688930274
|
|
],
|
|
"position_mm": [
|
|
441.2993725104463,
|
|
192.99275438480907,
|
|
-26.971517688930273
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"position_m": [
|
|
-0.026849071150557367,
|
|
0.19199946163754056,
|
|
-0.025992768664680137
|
|
],
|
|
"position_mm": [
|
|
-26.849071150557368,
|
|
191.99946163754055,
|
|
-25.99276866468014
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3119764856257087,
|
|
-0.1597777603562294,
|
|
-0.02675713842519185
|
|
],
|
|
"position_mm": [
|
|
311.9764856257087,
|
|
-159.7777603562294,
|
|
-26.75713842519185
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5065659233754124,
|
|
-0.31378583293743323,
|
|
-0.027159729578989687
|
|
],
|
|
"position_mm": [
|
|
506.5659233754124,
|
|
-313.7858329374332,
|
|
-27.159729578989687
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.3617476599431683,
|
|
0.2947760855578788,
|
|
-0.026681440876446832
|
|
],
|
|
"position_mm": [
|
|
361.74765994316834,
|
|
294.77608555787884,
|
|
-26.681440876446832
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6466008708984962,
|
|
-0.18701740573313042,
|
|
-0.027342175225099928
|
|
],
|
|
"position_mm": [
|
|
646.6008708984962,
|
|
-187.0174057331304,
|
|
-27.34217522509993
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.1871872686190157,
|
|
-0.27663763297531746,
|
|
-0.02653514787956797
|
|
],
|
|
"position_mm": [
|
|
187.1872686190157,
|
|
-276.63763297531744,
|
|
-26.53514787956797
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3721463242081747,
|
|
-0.18428926522614406,
|
|
-0.028347246453172
|
|
],
|
|
"position_mm": [
|
|
372.1463242081747,
|
|
-184.28926522614407,
|
|
-28.347246453171998
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.30665627296315545,
|
|
-0.3586727370258307,
|
|
-0.02692198742291277
|
|
],
|
|
"position_mm": [
|
|
306.65627296315546,
|
|
-358.6727370258307,
|
|
-26.921987422912768
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6509583629584992,
|
|
-0.22384399681155798,
|
|
-0.026958285998085117
|
|
],
|
|
"position_mm": [
|
|
650.9583629584992,
|
|
-223.843996811558,
|
|
-26.958285998085117
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10500634037670349,
|
|
-0.1912226939233138,
|
|
-0.027085854148582795
|
|
],
|
|
"position_mm": [
|
|
105.00634037670349,
|
|
-191.2226939233138,
|
|
-27.085854148582793
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.2716251453630974,
|
|
-0.16131710600023497,
|
|
0.23290907411707742
|
|
],
|
|
"position_mm": [
|
|
271.6251453630974,
|
|
-161.31710600023496,
|
|
232.90907411707744
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.17088872281310627,
|
|
-0.052516480160506133,
|
|
0.09068609180151184
|
|
],
|
|
"position_mm": [
|
|
170.88872281310626,
|
|
-52.516480160506134,
|
|
90.68609180151184
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"position_m": [
|
|
0.7523354464466968,
|
|
-0.09023665780630856,
|
|
0.00043065992578724186
|
|
],
|
|
"position_mm": [
|
|
752.3354464466968,
|
|
-90.23665780630856,
|
|
0.4306599257872419
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.3519666939552026,
|
|
-0.08861445078504464,
|
|
0.0010694858648898457
|
|
],
|
|
"position_mm": [
|
|
351.9666939552026,
|
|
-88.61445078504464,
|
|
1.0694858648898458
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.021180418538998196,
|
|
-0.02012857396225193,
|
|
0.001550985677598135
|
|
],
|
|
"position_mm": [
|
|
21.180418538998197,
|
|
-20.12857396225193,
|
|
1.5509856775981352
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.2528680633133983,
|
|
-0.011224367711142966,
|
|
0.0008063621284953085
|
|
],
|
|
"position_mm": [
|
|
252.8680633133983,
|
|
-11.224367711142966,
|
|
0.8063621284953085
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.34776073402412605,
|
|
-0.012468796577626076,
|
|
0.0013756747711843437
|
|
],
|
|
"position_mm": [
|
|
347.76073402412607,
|
|
-12.468796577626076,
|
|
1.3756747711843438
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.6478359348241239,
|
|
-0.08989948789262524,
|
|
-0.0007833270789510546
|
|
],
|
|
"position_mm": [
|
|
647.8359348241239,
|
|
-89.89948789262523,
|
|
-0.7833270789510546
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.166993912099031,
|
|
-0.1417424418203335,
|
|
0.08699140188496031
|
|
],
|
|
"position_mm": [
|
|
166.993912099031,
|
|
-141.74244182033348,
|
|
86.99140188496031
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.17080312948062298,
|
|
-0.17534160974514862,
|
|
0.04648120109655762
|
|
],
|
|
"position_mm": [
|
|
170.80312948062297,
|
|
-175.34160974514862,
|
|
46.481201096557626
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.2603217436024351,
|
|
-0.1767945337742601,
|
|
0.05286539682579496
|
|
],
|
|
"position_mm": [
|
|
260.3217436024351,
|
|
-176.79453377426012,
|
|
52.86539682579496
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.22608447232278653,
|
|
-0.1758234577552331,
|
|
0.0531579147296938
|
|
],
|
|
"position_mm": [
|
|
226.08447232278652,
|
|
-175.82345775523308,
|
|
53.1579147296938
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |