674 lines
13 KiB
JSON
674 lines
13 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:33:44Z",
|
|
"summary": {
|
|
"num_cameras": 4,
|
|
"num_markers": 31,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"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
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "f",
|
|
"position_m": [
|
|
0.48505310768854737,
|
|
-0.309669335539303,
|
|
1.402070939578569
|
|
],
|
|
"position_mm": [
|
|
485.05310768854736,
|
|
-309.669335539303,
|
|
1402.070939578569
|
|
],
|
|
"direction": [
|
|
-0.22737352550029755,
|
|
0.08767975866794586,
|
|
-0.9698523283004761
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "g",
|
|
"position_m": [
|
|
-0.20892576741721647,
|
|
0.20128727403677504,
|
|
1.401691703675199
|
|
],
|
|
"position_mm": [
|
|
-208.92576741721646,
|
|
201.28727403677505,
|
|
1401.691703675199
|
|
],
|
|
"direction": [
|
|
0.30114462971687317,
|
|
-0.2968323230743408,
|
|
-0.9062021970748901
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 41,
|
|
"position_m": [
|
|
0.24526268386940323,
|
|
-0.1124745585366396,
|
|
0.3428208798770862
|
|
],
|
|
"position_mm": [
|
|
245.26268386940322,
|
|
-112.47455853663959,
|
|
342.8208798770862
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.21183103025255387,
|
|
-0.07886704071668424,
|
|
0.34177467456171745
|
|
],
|
|
"position_mm": [
|
|
211.83103025255386,
|
|
-78.86704071668424,
|
|
341.77467456171746
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.267093595240397,
|
|
-0.0761994116789715,
|
|
0.33936432184680526
|
|
],
|
|
"position_mm": [
|
|
267.093595240397,
|
|
-76.1994116789715,
|
|
339.36432184680524
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.5366586144854513,
|
|
0.18337015295584588,
|
|
-0.031851898686603194
|
|
],
|
|
"position_mm": [
|
|
536.6586144854513,
|
|
183.3701529558459,
|
|
-31.851898686603196
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6870673705588523,
|
|
-0.3184723786475715,
|
|
-0.027718573562141205
|
|
],
|
|
"position_mm": [
|
|
687.0673705588523,
|
|
-318.4723786475715,
|
|
-27.718573562141206
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.4870567786953741,
|
|
0.21089056701770031,
|
|
-0.023070491982621982
|
|
],
|
|
"position_mm": [
|
|
487.05677869537413,
|
|
210.8905670177003,
|
|
-23.07049198262198
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.34042319093071416,
|
|
-0.327200298984243,
|
|
-0.027350200792899036
|
|
],
|
|
"position_mm": [
|
|
340.42319093071416,
|
|
-327.20029898424303,
|
|
-27.350200792899034
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.28449384728214117,
|
|
-0.26112991334311825,
|
|
-0.027655518985713556
|
|
],
|
|
"position_mm": [
|
|
284.4938472821412,
|
|
-261.12991334311823,
|
|
-27.655518985713556
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.49872925864295026,
|
|
0.16724454974646588,
|
|
-0.02648150803320167
|
|
],
|
|
"position_mm": [
|
|
498.72925864295024,
|
|
167.24454974646588,
|
|
-26.48150803320167
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.049317315912372754,
|
|
-0.2170980416056028,
|
|
-0.026289947326486124
|
|
],
|
|
"position_mm": [
|
|
49.317315912372756,
|
|
-217.09804160560282,
|
|
-26.289947326486125
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40176493105874794,
|
|
-0.17335838298527811,
|
|
-0.027624662826977675
|
|
],
|
|
"position_mm": [
|
|
401.76493105874795,
|
|
-173.35838298527813,
|
|
-27.624662826977676
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.776394591341195,
|
|
-0.23606125995356897,
|
|
-0.027746913978722976
|
|
],
|
|
"position_mm": [
|
|
776.394591341195,
|
|
-236.06125995356896,
|
|
-27.746913978722976
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.02213605435171424,
|
|
-0.18760664930903614,
|
|
-0.02940827322200097
|
|
],
|
|
"position_mm": [
|
|
-22.13605435171424,
|
|
-187.60664930903616,
|
|
-29.408273222000968
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"position_m": [
|
|
0.21071063252901917,
|
|
-0.36505877510341855,
|
|
-0.03010751588764565
|
|
],
|
|
"position_mm": [
|
|
210.71063252901916,
|
|
-365.05877510341855,
|
|
-30.10751588764565
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"position_m": [
|
|
0.5751825108982046,
|
|
0.173842641739158,
|
|
-0.028023453143760594
|
|
],
|
|
"position_mm": [
|
|
575.1825108982046,
|
|
173.842641739158,
|
|
-28.023453143760594
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.004948979620929937,
|
|
-0.27887320348689715,
|
|
-0.027479673064261186
|
|
],
|
|
"position_mm": [
|
|
4.948979620929937,
|
|
-278.8732034868971,
|
|
-27.479673064261185
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.44175179547019366,
|
|
0.19352609322775743,
|
|
-0.027011495528605163
|
|
],
|
|
"position_mm": [
|
|
441.75179547019366,
|
|
193.52609322775743,
|
|
-27.011495528605163
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31194294853928156,
|
|
-0.15815029954096682,
|
|
-0.02668392906799467
|
|
],
|
|
"position_mm": [
|
|
311.9429485392816,
|
|
-158.1502995409668,
|
|
-26.683929067994672
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5055924541132251,
|
|
-0.31461089797801545,
|
|
-0.02741559278509747
|
|
],
|
|
"position_mm": [
|
|
505.5924541132251,
|
|
-314.61089797801543,
|
|
-27.41559278509747
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.3615748046184409,
|
|
0.2941975906156802,
|
|
-0.027352923416867406
|
|
],
|
|
"position_mm": [
|
|
361.5748046184409,
|
|
294.19759061568016,
|
|
-27.352923416867405
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18643866853948116,
|
|
-0.2761017205119366,
|
|
-0.027077793842769284
|
|
],
|
|
"position_mm": [
|
|
186.43866853948114,
|
|
-276.1017205119366,
|
|
-27.077793842769285
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.3052048129419818,
|
|
-0.359459821718848,
|
|
-0.028950141626506685
|
|
],
|
|
"position_mm": [
|
|
305.2048129419818,
|
|
-359.459821718848,
|
|
-28.950141626506685
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6518585391072579,
|
|
-0.2236180423602341,
|
|
-0.027570323917247255
|
|
],
|
|
"position_mm": [
|
|
651.8585391072579,
|
|
-223.6180423602341,
|
|
-27.570323917247254
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.1070405370965269,
|
|
-0.19091363960841073,
|
|
-0.02665601474847967
|
|
],
|
|
"position_mm": [
|
|
107.0405370965269,
|
|
-190.91363960841073,
|
|
-26.65601474847967
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.27425752776988915,
|
|
-0.1651307839017065,
|
|
0.23656504422196803
|
|
],
|
|
"position_mm": [
|
|
274.2575277698892,
|
|
-165.13078390170648,
|
|
236.56504422196804
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.35241746130607227,
|
|
-0.0906376079983522,
|
|
0.0009404848040996713
|
|
],
|
|
"position_mm": [
|
|
352.41746130607225,
|
|
-90.6376079983522,
|
|
0.9404848040996713
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.34793711077354017,
|
|
-0.010766895657625748,
|
|
0.00016975750012330085
|
|
],
|
|
"position_mm": [
|
|
347.93711077354016,
|
|
-10.766895657625748,
|
|
0.16975750012330085
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.25003307341581693,
|
|
-0.0883727661668058,
|
|
0.00010234281122275873
|
|
],
|
|
"position_mm": [
|
|
250.03307341581694,
|
|
-88.3727661668058,
|
|
0.10234281122275873
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.16614892671039186,
|
|
-0.14285343230248063,
|
|
0.08673487616687739
|
|
],
|
|
"position_mm": [
|
|
166.14892671039186,
|
|
-142.85343230248063,
|
|
86.73487616687738
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"position_m": [
|
|
0.2984399881231496,
|
|
-0.14484759776999345,
|
|
0.05080215145645345
|
|
],
|
|
"position_mm": [
|
|
298.4399881231496,
|
|
-144.84759776999346,
|
|
50.80215145645345
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.2623867749576895,
|
|
-0.178616062989254,
|
|
0.05394225781168983
|
|
],
|
|
"position_mm": [
|
|
262.38677495768945,
|
|
-178.616062989254,
|
|
53.94225781168983
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |