919 lines
17 KiB
JSON
919 lines
17 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:31:29Z",
|
|
"summary": {
|
|
"num_cameras": 6,
|
|
"num_markers": 42,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"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
|
|
]
|
|
},
|
|
{
|
|
"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": [
|
|
0.24565857201910268,
|
|
-0.11180003560325039,
|
|
0.3441439072552464
|
|
],
|
|
"position_mm": [
|
|
245.65857201910268,
|
|
-111.8000356032504,
|
|
344.1439072552464
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.2131851072896788,
|
|
-0.07733014305153707,
|
|
0.3417915945118323
|
|
],
|
|
"position_mm": [
|
|
213.1851072896788,
|
|
-77.33014305153706,
|
|
341.7915945118323
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.26750437047076053,
|
|
-0.07506187152057552,
|
|
0.33930584441520595
|
|
],
|
|
"position_mm": [
|
|
267.50437047076053,
|
|
-75.06187152057552,
|
|
339.30584441520597
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.5371436912165006,
|
|
0.18352700947731326,
|
|
-0.03322021218078738
|
|
],
|
|
"position_mm": [
|
|
537.1436912165007,
|
|
183.52700947731327,
|
|
-33.22021218078738
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.34421288495205155,
|
|
-0.28608534600647606,
|
|
-0.031562528774553227
|
|
],
|
|
"position_mm": [
|
|
344.2128849520515,
|
|
-286.0853460064761,
|
|
-31.562528774553225
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6877728394150019,
|
|
-0.3188653603143035,
|
|
-0.028239793011005293
|
|
],
|
|
"position_mm": [
|
|
687.7728394150018,
|
|
-318.86536031430353,
|
|
-28.239793011005293
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16851628840170846,
|
|
-0.17365979808608475,
|
|
-0.026967985488249042
|
|
],
|
|
"position_mm": [
|
|
168.51628840170847,
|
|
-173.65979808608475,
|
|
-26.96798548824904
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.4877452139547424,
|
|
0.21089967322850547,
|
|
-0.0235586051989322
|
|
],
|
|
"position_mm": [
|
|
487.7452139547424,
|
|
210.89967322850546,
|
|
-23.5586051989322
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.3401887091188359,
|
|
-0.32915029180923694,
|
|
-0.022991979710711957
|
|
],
|
|
"position_mm": [
|
|
340.1887091188359,
|
|
-329.15029180923693,
|
|
-22.991979710711956
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2843184497072949,
|
|
-0.26108041369528767,
|
|
-0.026771881897471803
|
|
],
|
|
"position_mm": [
|
|
284.3184497072949,
|
|
-261.0804136952877,
|
|
-26.771881897471804
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.49927739547091976,
|
|
0.16728495859157572,
|
|
-0.027756613551035307
|
|
],
|
|
"position_mm": [
|
|
499.27739547091977,
|
|
167.28495859157573,
|
|
-27.756613551035308
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.04917655875915173,
|
|
-0.217184076464404,
|
|
-0.027704234290845994
|
|
],
|
|
"position_mm": [
|
|
49.17655875915173,
|
|
-217.184076464404,
|
|
-27.704234290845996
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6246106414151931,
|
|
-0.2783043410584276,
|
|
-0.022710954610581046
|
|
],
|
|
"position_mm": [
|
|
624.6106414151931,
|
|
-278.3043410584276,
|
|
-22.710954610581044
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40336928147068096,
|
|
-0.17040222499105837,
|
|
-0.030002231665362266
|
|
],
|
|
"position_mm": [
|
|
403.36928147068096,
|
|
-170.40222499105838,
|
|
-30.002231665362267
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7760607563048888,
|
|
-0.2360285961794219,
|
|
-0.027995293456398587
|
|
],
|
|
"position_mm": [
|
|
776.0607563048889,
|
|
-236.0285961794219,
|
|
-27.995293456398585
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.021932427883419727,
|
|
-0.1867119997408772,
|
|
-0.02772901442971567
|
|
],
|
|
"position_mm": [
|
|
-21.932427883419727,
|
|
-186.71199974087722,
|
|
-27.72901442971567
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"position_m": [
|
|
0.2105655787192077,
|
|
-0.3647542352751882,
|
|
-0.02860754265738645
|
|
],
|
|
"position_mm": [
|
|
210.5655787192077,
|
|
-364.7542352751882,
|
|
-28.60754265738645
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"position_m": [
|
|
0.5755238501694413,
|
|
0.17405406046818767,
|
|
-0.0280484380619404
|
|
],
|
|
"position_mm": [
|
|
575.5238501694413,
|
|
174.05406046818766,
|
|
-28.0484380619404
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005076061230477646,
|
|
-0.27916114583192925,
|
|
-0.027360435046118334
|
|
],
|
|
"position_mm": [
|
|
5.076061230477646,
|
|
-279.1611458319293,
|
|
-27.360435046118333
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"position_m": [
|
|
0.7504239476091443,
|
|
-0.2849785259864183,
|
|
-0.026667389800808235
|
|
],
|
|
"position_mm": [
|
|
750.4239476091443,
|
|
-284.97852598641833,
|
|
-26.667389800808234
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.4424064656134505,
|
|
0.19377403714607344,
|
|
-0.028109117963071403
|
|
],
|
|
"position_mm": [
|
|
442.4064656134505,
|
|
193.77403714607345,
|
|
-28.1091179630714
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"position_m": [
|
|
-0.026838015701758366,
|
|
0.19199787837832313,
|
|
-0.025997685656412486
|
|
],
|
|
"position_mm": [
|
|
-26.838015701758366,
|
|
191.99787837832312,
|
|
-25.997685656412486
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31307345762577066,
|
|
-0.1586475851693263,
|
|
-0.026954191736614116
|
|
],
|
|
"position_mm": [
|
|
313.07345762577063,
|
|
-158.6475851693263,
|
|
-26.954191736614117
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5065303989067003,
|
|
-0.313800434557464,
|
|
-0.027172470709669955
|
|
],
|
|
"position_mm": [
|
|
506.53039890670027,
|
|
-313.800434557464,
|
|
-27.172470709669955
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.3616714799511798,
|
|
0.2947514044189042,
|
|
-0.026717883208909415
|
|
],
|
|
"position_mm": [
|
|
361.67147995117983,
|
|
294.7514044189042,
|
|
-26.717883208909416
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6469072382339219,
|
|
-0.1857874265264856,
|
|
-0.028463558378517533
|
|
],
|
|
"position_mm": [
|
|
646.9072382339219,
|
|
-185.7874265264856,
|
|
-28.463558378517533
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18652139727501107,
|
|
-0.27568966092359076,
|
|
-0.02758557430648764
|
|
],
|
|
"position_mm": [
|
|
186.52139727501108,
|
|
-275.68966092359074,
|
|
-27.58557430648764
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3704053001784699,
|
|
-0.18631561722266526,
|
|
-0.02684480953908297
|
|
],
|
|
"position_mm": [
|
|
370.4053001784699,
|
|
-186.31561722266525,
|
|
-26.84480953908297
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.30508231812562187,
|
|
-0.3603887275234353,
|
|
-0.03166780043547101
|
|
],
|
|
"position_mm": [
|
|
305.08231812562184,
|
|
-360.3887275234353,
|
|
-31.66780043547101
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6509128809374908,
|
|
-0.22397074414223037,
|
|
-0.026637920649800705
|
|
],
|
|
"position_mm": [
|
|
650.9128809374907,
|
|
-223.97074414223036,
|
|
-26.637920649800705
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10687187914536896,
|
|
-0.19095969107210375,
|
|
-0.026588103123862793
|
|
],
|
|
"position_mm": [
|
|
106.87187914536895,
|
|
-190.95969107210377,
|
|
-26.588103123862794
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.27433129621263513,
|
|
-0.16685230050768254,
|
|
0.23660386721145682
|
|
],
|
|
"position_mm": [
|
|
274.33129621263515,
|
|
-166.85230050768254,
|
|
236.60386721145682
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.17083224606064454,
|
|
-0.052842718351832074,
|
|
0.09070402755390153
|
|
],
|
|
"position_mm": [
|
|
170.83224606064454,
|
|
-52.842718351832076,
|
|
90.70402755390153
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"position_m": [
|
|
0.7523456172837233,
|
|
-0.09023281302737841,
|
|
0.00043843931059163715
|
|
],
|
|
"position_mm": [
|
|
752.3456172837233,
|
|
-90.23281302737841,
|
|
0.43843931059163715
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.3523239782655483,
|
|
-0.09082913991676476,
|
|
0.001669428688028625
|
|
],
|
|
"position_mm": [
|
|
352.3239782655483,
|
|
-90.82913991676476,
|
|
1.669428688028625
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.021455623392001143,
|
|
-0.018826842842572945,
|
|
-0.001302707173034284
|
|
],
|
|
"position_mm": [
|
|
21.455623392001144,
|
|
-18.826842842572944,
|
|
-1.3027071730342838
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.25292328468553193,
|
|
-0.011193526796246592,
|
|
0.0008042999346022099
|
|
],
|
|
"position_mm": [
|
|
252.92328468553194,
|
|
-11.193526796246593,
|
|
0.8042999346022099
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3473638867441829,
|
|
-0.010993044233266407,
|
|
0.00040803912438669866
|
|
],
|
|
"position_mm": [
|
|
347.3638867441829,
|
|
-10.993044233266406,
|
|
0.40803912438669865
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.16650675708982404,
|
|
-0.14230116941634058,
|
|
0.08184528636551801
|
|
],
|
|
"position_mm": [
|
|
166.50675708982405,
|
|
-142.30116941634057,
|
|
81.845286365518
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.1721055020728246,
|
|
-0.17608872635597989,
|
|
0.04610927020974387
|
|
],
|
|
"position_mm": [
|
|
172.1055020728246,
|
|
-176.08872635597987,
|
|
46.10927020974387
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.26405581259460137,
|
|
-0.18445908891858637,
|
|
0.05574007823655719
|
|
],
|
|
"position_mm": [
|
|
264.0558125946014,
|
|
-184.45908891858636,
|
|
55.74007823655719
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.22747453298619952,
|
|
-0.17699798819069065,
|
|
0.052220579359188446
|
|
],
|
|
"position_mm": [
|
|
227.4745329861995,
|
|
-176.99798819069065,
|
|
52.22057935918845
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |