560 lines
10 KiB
JSON
560 lines
10 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:34:15Z",
|
|
"summary": {
|
|
"num_cameras": 4,
|
|
"num_markers": 25,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.30124957039980904,
|
|
-0.7944876545661685,
|
|
0.8037787426157785
|
|
],
|
|
"position_mm": [
|
|
-301.24957039980904,
|
|
-794.4876545661685,
|
|
803.7787426157786
|
|
],
|
|
"direction": [
|
|
0.47980576753616333,
|
|
0.6539319157600403,
|
|
-0.5849440097808838
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "b",
|
|
"position_m": [
|
|
0.29717288049224716,
|
|
-0.8887366669190728,
|
|
1.2029439521855916
|
|
],
|
|
"position_mm": [
|
|
297.17288049224715,
|
|
-888.7366669190728,
|
|
1202.9439521855916
|
|
],
|
|
"direction": [
|
|
0.010270745493471622,
|
|
0.6205654144287109,
|
|
-0.7840874195098877
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "d",
|
|
"position_m": [
|
|
0.7010643463118735,
|
|
-0.7940689865992328,
|
|
0.40229983605243974
|
|
],
|
|
"position_mm": [
|
|
701.0643463118736,
|
|
-794.0689865992327,
|
|
402.29983605243973
|
|
],
|
|
"direction": [
|
|
-0.5524550080299377,
|
|
0.7830438613891602,
|
|
-0.285719633102417
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "e",
|
|
"position_m": [
|
|
1.2047895519114378,
|
|
-0.909711288880933,
|
|
0.41070428458266445
|
|
],
|
|
"position_mm": [
|
|
1204.7895519114377,
|
|
-909.711288880933,
|
|
410.70428458266446
|
|
],
|
|
"direction": [
|
|
-0.7462964057922363,
|
|
0.608277440071106,
|
|
-0.2702595889568329
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.21555236253044427,
|
|
-0.07639401937058332,
|
|
0.3413397109362011
|
|
],
|
|
"position_mm": [
|
|
215.55236253044427,
|
|
-76.39401937058332,
|
|
341.3397109362011
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.2686188896061977,
|
|
-0.07367373566661733,
|
|
0.33965156599617197
|
|
],
|
|
"position_mm": [
|
|
268.6188896061977,
|
|
-73.67373566661733,
|
|
339.65156599617194
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6869807332079165,
|
|
-0.31826576202556844,
|
|
-0.027778913277388337
|
|
],
|
|
"position_mm": [
|
|
686.9807332079165,
|
|
-318.26576202556845,
|
|
-27.778913277388337
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16732596809362238,
|
|
-0.17370714314625396,
|
|
-0.027328839893199713
|
|
],
|
|
"position_mm": [
|
|
167.32596809362238,
|
|
-173.70714314625397,
|
|
-27.328839893199714
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.28464921067141247,
|
|
-0.2604765561780117,
|
|
-0.027857655214065098
|
|
],
|
|
"position_mm": [
|
|
284.64921067141245,
|
|
-260.47655617801166,
|
|
-27.857655214065097
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.047021612150327435,
|
|
-0.21476000214655563,
|
|
-0.028455689186114855
|
|
],
|
|
"position_mm": [
|
|
47.021612150327435,
|
|
-214.76000214655562,
|
|
-28.455689186114856
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4018650693605164,
|
|
-0.1732902099234675,
|
|
-0.027489035734192643
|
|
],
|
|
"position_mm": [
|
|
401.86506936051643,
|
|
-173.2902099234675,
|
|
-27.489035734192644
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.776024541678977,
|
|
-0.2353406328307654,
|
|
-0.028248239763098704
|
|
],
|
|
"position_mm": [
|
|
776.024541678977,
|
|
-235.3406328307654,
|
|
-28.248239763098702
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.00713915976816604,
|
|
-0.27948873564704446,
|
|
-0.02606207948790161
|
|
],
|
|
"position_mm": [
|
|
7.13915976816604,
|
|
-279.48873564704445,
|
|
-26.06207948790161
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3115841816185024,
|
|
-0.1580736514213104,
|
|
-0.027226637284212343
|
|
],
|
|
"position_mm": [
|
|
311.5841816185024,
|
|
-158.07365142131042,
|
|
-27.22663728421234
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5059865407181493,
|
|
-0.31438766767753623,
|
|
-0.026900347271129436
|
|
],
|
|
"position_mm": [
|
|
505.9865407181493,
|
|
-314.38766767753623,
|
|
-26.900347271129437
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.3619509699321097,
|
|
0.2937031747316378,
|
|
-0.027377227768413927
|
|
],
|
|
"position_mm": [
|
|
361.9509699321097,
|
|
293.70317473163783,
|
|
-27.377227768413928
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6478320738985293,
|
|
-0.1861554460325626,
|
|
-0.02871503597979873
|
|
],
|
|
"position_mm": [
|
|
647.8320738985293,
|
|
-186.1554460325626,
|
|
-28.71503597979873
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18637653907954033,
|
|
-0.27554752173676655,
|
|
-0.027856936814351405
|
|
],
|
|
"position_mm": [
|
|
186.37653907954032,
|
|
-275.54752173676656,
|
|
-27.856936814351403
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6523167206173431,
|
|
-0.22430159075984948,
|
|
-0.027264435721090198
|
|
],
|
|
"position_mm": [
|
|
652.3167206173431,
|
|
-224.3015907598495,
|
|
-27.264435721090198
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.105478133150367,
|
|
-0.1902668060048365,
|
|
-0.02764125672151812
|
|
],
|
|
"position_mm": [
|
|
105.478133150367,
|
|
-190.2668060048365,
|
|
-27.64125672151812
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.2742575277385006,
|
|
-0.16513078385952185,
|
|
0.2365650442100542
|
|
],
|
|
"position_mm": [
|
|
274.2575277385006,
|
|
-165.13078385952184,
|
|
236.5650442100542
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6505153248126277,
|
|
-0.010506868546235414,
|
|
0.00013253247650039005
|
|
],
|
|
"position_mm": [
|
|
650.5153248126278,
|
|
-10.506868546235413,
|
|
0.13253247650039005
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.3535062366001201,
|
|
-0.09228276753428451,
|
|
0.002325915365480723
|
|
],
|
|
"position_mm": [
|
|
353.5062366001201,
|
|
-92.2827675342845,
|
|
2.3259153654807228
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3488790288312773,
|
|
-0.012428552014209346,
|
|
0.0009495358906898313
|
|
],
|
|
"position_mm": [
|
|
348.8790288312773,
|
|
-12.428552014209346,
|
|
0.9495358906898312
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.16848266351671032,
|
|
-0.14005131019859918,
|
|
0.08244111360790995
|
|
],
|
|
"position_mm": [
|
|
168.48266351671032,
|
|
-140.05131019859917,
|
|
82.44111360790995
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.17026481533753124,
|
|
-0.17432432517310747,
|
|
0.04677324691311108
|
|
],
|
|
"position_mm": [
|
|
170.26481533753125,
|
|
-174.32432517310747,
|
|
46.77324691311108
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"position_m": [
|
|
0.29777372595056184,
|
|
-0.14361014196764582,
|
|
0.050200971705445456
|
|
],
|
|
"position_mm": [
|
|
297.77372595056187,
|
|
-143.61014196764583,
|
|
50.200971705445454
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.2616166025744013,
|
|
-0.17728520404441572,
|
|
0.05314285922520336
|
|
],
|
|
"position_mm": [
|
|
261.61660257440127,
|
|
-177.28520404441574,
|
|
53.14285922520336
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.22424125180086277,
|
|
-0.17439261967653238,
|
|
0.05216373469467379
|
|
],
|
|
"position_mm": [
|
|
224.24125180086276,
|
|
-174.39261967653238,
|
|
52.163734694673785
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |