956 lines
18 KiB
JSON
956 lines
18 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:32:31Z",
|
|
"summary": {
|
|
"num_cameras": 7,
|
|
"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": "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": [
|
|
0.24638571917032795,
|
|
-0.1124289647512591,
|
|
0.342469713946586
|
|
],
|
|
"position_mm": [
|
|
246.38571917032795,
|
|
-112.4289647512591,
|
|
342.469713946586
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.21393858809274363,
|
|
-0.07790213742490623,
|
|
0.34428938359840144
|
|
],
|
|
"position_mm": [
|
|
213.93858809274363,
|
|
-77.90213742490623,
|
|
344.28938359840146
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.2679526236651614,
|
|
-0.07526377887115528,
|
|
0.3406218391205738
|
|
],
|
|
"position_mm": [
|
|
267.9526236651614,
|
|
-75.26377887115528,
|
|
340.62183912057384
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.5371407953328019,
|
|
0.18352470624431552,
|
|
-0.03321153218086768
|
|
],
|
|
"position_mm": [
|
|
537.1407953328019,
|
|
183.52470624431552,
|
|
-33.21153218086768
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.34435383801978886,
|
|
-0.2858216095695336,
|
|
-0.03211202355385431
|
|
],
|
|
"position_mm": [
|
|
344.35383801978884,
|
|
-285.8216095695336,
|
|
-32.112023553854314
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6877794987898831,
|
|
-0.31887368427533913,
|
|
-0.028235224151852447
|
|
],
|
|
"position_mm": [
|
|
687.7794987898831,
|
|
-318.87368427533914,
|
|
-28.235224151852446
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.1679880390513517,
|
|
-0.1734776171506547,
|
|
-0.027129087748514923
|
|
],
|
|
"position_mm": [
|
|
167.9880390513517,
|
|
-173.4776171506547,
|
|
-27.129087748514923
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.4877139468381683,
|
|
0.21088403044082862,
|
|
-0.023525811049677617
|
|
],
|
|
"position_mm": [
|
|
487.71394683816834,
|
|
210.8840304408286,
|
|
-23.525811049677618
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.33990618164958936,
|
|
-0.3291705426772376,
|
|
-0.025379710072932507
|
|
],
|
|
"position_mm": [
|
|
339.90618164958937,
|
|
-329.1705426772376,
|
|
-25.379710072932507
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2843177246763116,
|
|
-0.2612382212358463,
|
|
-0.026929209636495442
|
|
],
|
|
"position_mm": [
|
|
284.3177246763116,
|
|
-261.23822123584625,
|
|
-26.929209636495443
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.49927615308314194,
|
|
0.16727941688558393,
|
|
-0.027746102119958187
|
|
],
|
|
"position_mm": [
|
|
499.27615308314193,
|
|
167.2794168855839,
|
|
-27.746102119958188
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.049005494901340305,
|
|
-0.2172875281063924,
|
|
-0.027568954867344838
|
|
],
|
|
"position_mm": [
|
|
49.005494901340306,
|
|
-217.28752810639241,
|
|
-27.56895486734484
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6246668591310175,
|
|
-0.27821813170795284,
|
|
-0.022836307872425868
|
|
],
|
|
"position_mm": [
|
|
624.6668591310175,
|
|
-278.21813170795286,
|
|
-22.836307872425866
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4036827436165107,
|
|
-0.17079235086602612,
|
|
-0.029839879293488088
|
|
],
|
|
"position_mm": [
|
|
403.68274361651066,
|
|
-170.7923508660261,
|
|
-29.83987929348809
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7760608425912112,
|
|
-0.23602740790490043,
|
|
-0.027995810609563198
|
|
],
|
|
"position_mm": [
|
|
776.0608425912112,
|
|
-236.02740790490043,
|
|
-27.995810609563197
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.021993803690863255,
|
|
-0.1865617060837862,
|
|
-0.02781214563662423
|
|
],
|
|
"position_mm": [
|
|
-21.993803690863256,
|
|
-186.5617060837862,
|
|
-27.81214563662423
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"position_m": [
|
|
0.21037710802571927,
|
|
-0.36452710917152725,
|
|
-0.028229988293227513
|
|
],
|
|
"position_mm": [
|
|
210.37710802571928,
|
|
-364.52710917152723,
|
|
-28.229988293227514
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"position_m": [
|
|
0.5755225695496917,
|
|
0.17405416069834534,
|
|
-0.02804734901375609
|
|
],
|
|
"position_mm": [
|
|
575.5225695496918,
|
|
174.05416069834533,
|
|
-28.04734901375609
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.004988241818409903,
|
|
-0.27932426031054497,
|
|
-0.02734242605348989
|
|
],
|
|
"position_mm": [
|
|
4.988241818409903,
|
|
-279.32426031054496,
|
|
-27.342426053489888
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"position_m": [
|
|
0.7504262737877181,
|
|
-0.2849785453456074,
|
|
-0.026669184645716014
|
|
],
|
|
"position_mm": [
|
|
750.4262737877181,
|
|
-284.9785453456074,
|
|
-26.669184645716015
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.4423333574499972,
|
|
0.1938382277679003,
|
|
-0.02795745715200649
|
|
],
|
|
"position_mm": [
|
|
442.3333574499972,
|
|
193.8382277679003,
|
|
-27.957457152006487
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"position_m": [
|
|
-0.026838015703759266,
|
|
0.19199787838167595,
|
|
-0.025997685661846095
|
|
],
|
|
"position_mm": [
|
|
-26.838015703759265,
|
|
191.99787838167595,
|
|
-25.997685661846095
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3130113027036934,
|
|
-0.1585709612367371,
|
|
-0.02700990816086148
|
|
],
|
|
"position_mm": [
|
|
313.0113027036934,
|
|
-158.5709612367371,
|
|
-27.009908160861478
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5068115831963711,
|
|
-0.3144632812695918,
|
|
-0.026951449903274322
|
|
],
|
|
"position_mm": [
|
|
506.8115831963711,
|
|
-314.4632812695918,
|
|
-26.951449903274323
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.3616714799514471,
|
|
0.2947514044192538,
|
|
-0.026717883210492944
|
|
],
|
|
"position_mm": [
|
|
361.6714799514471,
|
|
294.7514044192538,
|
|
-26.717883210492943
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6467579305399157,
|
|
-0.1856088280465878,
|
|
-0.027876375439735028
|
|
],
|
|
"position_mm": [
|
|
646.7579305399157,
|
|
-185.6088280465878,
|
|
-27.87637543973503
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18646131093845283,
|
|
-0.2754226984015352,
|
|
-0.027905999176550008
|
|
],
|
|
"position_mm": [
|
|
186.46131093845284,
|
|
-275.42269840153523,
|
|
-27.905999176550008
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.37042637800162986,
|
|
-0.18606261747678202,
|
|
-0.026574723129935467
|
|
],
|
|
"position_mm": [
|
|
370.42637800162987,
|
|
-186.062617476782,
|
|
-26.574723129935467
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.30487284603984316,
|
|
-0.3608617363137973,
|
|
-0.032583919638433864
|
|
],
|
|
"position_mm": [
|
|
304.8728460398432,
|
|
-360.86173631379734,
|
|
-32.58391963843386
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6508250017170988,
|
|
-0.22381169855709454,
|
|
-0.026717082151892443
|
|
],
|
|
"position_mm": [
|
|
650.8250017170988,
|
|
-223.81169855709453,
|
|
-26.71708215189244
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.1060281996735174,
|
|
-0.18960867087792163,
|
|
-0.027611233236425347
|
|
],
|
|
"position_mm": [
|
|
106.02819967351739,
|
|
-189.60867087792164,
|
|
-27.611233236425345
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.2731287734655361,
|
|
-0.16438098169144388,
|
|
0.23613634419408164
|
|
],
|
|
"position_mm": [
|
|
273.1287734655361,
|
|
-164.38098169144388,
|
|
236.13634419408163
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.17048929097504242,
|
|
-0.05275179825888079,
|
|
0.09202568356017392
|
|
],
|
|
"position_mm": [
|
|
170.48929097504242,
|
|
-52.75179825888079,
|
|
92.02568356017392
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"position_m": [
|
|
0.7523456172840727,
|
|
-0.0902328130278139,
|
|
0.00043843931121922795
|
|
],
|
|
"position_mm": [
|
|
752.3456172840727,
|
|
-90.2328130278139,
|
|
0.43843931121922797
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.3523275045434795,
|
|
-0.0908145368514268,
|
|
0.0016703900032478116
|
|
],
|
|
"position_mm": [
|
|
352.3275045434795,
|
|
-90.81453685142681,
|
|
1.6703900032478116
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.021423818573613522,
|
|
-0.01896047487753416,
|
|
0.00031324177455900533
|
|
],
|
|
"position_mm": [
|
|
21.423818573613524,
|
|
-18.96047487753416,
|
|
0.3132417745590053
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.2529232846854129,
|
|
-0.01119352679588471,
|
|
0.0008042999345064954
|
|
],
|
|
"position_mm": [
|
|
252.9232846854129,
|
|
-11.19352679588471,
|
|
0.8042999345064954
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3473596271358583,
|
|
-0.010979091584849303,
|
|
0.0003985331273745559
|
|
],
|
|
"position_mm": [
|
|
347.35962713585826,
|
|
-10.979091584849302,
|
|
0.39853312737455593
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.6478540958629531,
|
|
-0.09049503985517698,
|
|
-0.000808644770757561
|
|
],
|
|
"position_mm": [
|
|
647.854095862953,
|
|
-90.49503985517698,
|
|
-0.808644770757561
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.16649121950284476,
|
|
-0.14211523902583711,
|
|
0.08211640933192618
|
|
],
|
|
"position_mm": [
|
|
166.49121950284476,
|
|
-142.11523902583713,
|
|
82.11640933192618
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.17173554678479525,
|
|
-0.17529368534201262,
|
|
0.04576128588148231
|
|
],
|
|
"position_mm": [
|
|
171.73554678479525,
|
|
-175.29368534201262,
|
|
45.76128588148231
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.2637409899464942,
|
|
-0.18393130452264764,
|
|
0.055469181097543514
|
|
],
|
|
"position_mm": [
|
|
263.7409899464942,
|
|
-183.93130452264765,
|
|
55.46918109754351
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.22724909476670024,
|
|
-0.17605598302555026,
|
|
0.05192398438523609
|
|
],
|
|
"position_mm": [
|
|
227.24909476670024,
|
|
-176.05598302555026,
|
|
51.92398438523609
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |