863 lines
16 KiB
JSON
863 lines
16 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:36:19Z",
|
|
"summary": {
|
|
"num_cameras": 5,
|
|
"num_markers": 40,
|
|
"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": "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": [
|
|
0.24582134381695803,
|
|
-0.11298980568660977,
|
|
0.3418144930280344
|
|
],
|
|
"position_mm": [
|
|
245.82134381695803,
|
|
-112.98980568660977,
|
|
341.8144930280344
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.21313851623496105,
|
|
-0.07865543275062964,
|
|
0.3429171254416546
|
|
],
|
|
"position_mm": [
|
|
213.13851623496106,
|
|
-78.65543275062964,
|
|
342.9171254416546
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.2674715718700652,
|
|
-0.07572649092506438,
|
|
0.34034251701831586
|
|
],
|
|
"position_mm": [
|
|
267.4715718700652,
|
|
-75.72649092506438,
|
|
340.34251701831585
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.5366583809116194,
|
|
0.18336990890173463,
|
|
-0.031850401656531156
|
|
],
|
|
"position_mm": [
|
|
536.6583809116195,
|
|
183.36990890173462,
|
|
-31.850401656531155
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.34515795226381246,
|
|
-0.2849736473676051,
|
|
-0.030808569413305825
|
|
],
|
|
"position_mm": [
|
|
345.1579522638125,
|
|
-284.9736473676051,
|
|
-30.808569413305825
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6882423700059758,
|
|
-0.31846871752287426,
|
|
-0.028757422817558626
|
|
],
|
|
"position_mm": [
|
|
688.2423700059758,
|
|
-318.4687175228743,
|
|
-28.757422817558627
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16805970412658133,
|
|
-0.1738559432642626,
|
|
-0.02718076484765543
|
|
],
|
|
"position_mm": [
|
|
168.05970412658132,
|
|
-173.8559432642626,
|
|
-27.180764847655432
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.4870569471128886,
|
|
0.21089073889296278,
|
|
-0.023071939796948323
|
|
],
|
|
"position_mm": [
|
|
487.0569471128886,
|
|
210.8907388929628,
|
|
-23.071939796948325
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.34042977265159197,
|
|
-0.328599871732917,
|
|
-0.02649238036323639
|
|
],
|
|
"position_mm": [
|
|
340.429772651592,
|
|
-328.599871732917,
|
|
-26.49238036323639
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2847851738534138,
|
|
-0.2608807988238399,
|
|
-0.02761368354561324
|
|
],
|
|
"position_mm": [
|
|
284.78517385341377,
|
|
-260.8807988238399,
|
|
-27.613683545613238
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.49872891092258337,
|
|
0.16724439543114575,
|
|
-0.026480547788060343
|
|
],
|
|
"position_mm": [
|
|
498.7289109225834,
|
|
167.24439543114576,
|
|
-26.480547788060342
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.04863548482361198,
|
|
-0.21667397765150256,
|
|
-0.026762299881818462
|
|
],
|
|
"position_mm": [
|
|
48.635484823611975,
|
|
-216.67397765150255,
|
|
-26.76229988181846
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.625481620411455,
|
|
-0.2771288359174774,
|
|
-0.024594578218537274
|
|
],
|
|
"position_mm": [
|
|
625.4816204114551,
|
|
-277.1288359174774,
|
|
-24.594578218537276
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4035705749169733,
|
|
-0.17170644286876752,
|
|
-0.03013467033978482
|
|
],
|
|
"position_mm": [
|
|
403.57057491697327,
|
|
-171.7064428687675,
|
|
-30.134670339784822
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.775096987986824,
|
|
-0.23656525245074506,
|
|
-0.02721972151600195
|
|
],
|
|
"position_mm": [
|
|
775.096987986824,
|
|
-236.56525245074505,
|
|
-27.219721516001947
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.022808541613702483,
|
|
-0.18714859900005582,
|
|
-0.029770656259551307
|
|
],
|
|
"position_mm": [
|
|
-22.808541613702484,
|
|
-187.1485990000558,
|
|
-29.770656259551306
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"position_m": [
|
|
0.20992571818984207,
|
|
-0.36499881190383354,
|
|
-0.030099280078997884
|
|
],
|
|
"position_mm": [
|
|
209.92571818984206,
|
|
-364.99881190383354,
|
|
-30.099280078997882
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"position_m": [
|
|
0.5751824995477948,
|
|
0.17384266591929887,
|
|
-0.028023525028758413
|
|
],
|
|
"position_mm": [
|
|
575.1824995477948,
|
|
173.84266591929887,
|
|
-28.023525028758414
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005382509623723865,
|
|
-0.2792456008825714,
|
|
-0.027080427514456874
|
|
],
|
|
"position_mm": [
|
|
5.382509623723865,
|
|
-279.2456008825714,
|
|
-27.080427514456872
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.44175187722037557,
|
|
0.19352619527930007,
|
|
-0.027011639363179657
|
|
],
|
|
"position_mm": [
|
|
441.75187722037555,
|
|
193.52619527930005,
|
|
-27.011639363179658
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3117746025074977,
|
|
-0.15813268660753496,
|
|
-0.02703931424963423
|
|
],
|
|
"position_mm": [
|
|
311.7746025074977,
|
|
-158.13268660753496,
|
|
-27.039314249634227
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"position_m": [
|
|
0.045262256850656574,
|
|
0.34147398058047096,
|
|
-0.027991635058192105
|
|
],
|
|
"position_mm": [
|
|
45.26225685065658,
|
|
341.47398058047094,
|
|
-27.991635058192106
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5063341262380522,
|
|
-0.3137966465810939,
|
|
-0.026980467695113444
|
|
],
|
|
"position_mm": [
|
|
506.3341262380522,
|
|
-313.7966465810939,
|
|
-26.980467695113443
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.36188821621069617,
|
|
0.29408073871905216,
|
|
-0.027591467490577556
|
|
],
|
|
"position_mm": [
|
|
361.88821621069616,
|
|
294.08073871905214,
|
|
-27.591467490577557
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6482687015449912,
|
|
-0.18531330413075572,
|
|
-0.02905940256868983
|
|
],
|
|
"position_mm": [
|
|
648.2687015449911,
|
|
-185.3133041307557,
|
|
-29.05940256868983
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.1863827345035278,
|
|
-0.27583034664784256,
|
|
-0.027573778731171398
|
|
],
|
|
"position_mm": [
|
|
186.3827345035278,
|
|
-275.8303466478426,
|
|
-27.573778731171398
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3695627042194314,
|
|
-0.18478556747820055,
|
|
-0.025419376537758005
|
|
],
|
|
"position_mm": [
|
|
369.5627042194314,
|
|
-184.78556747820053,
|
|
-25.419376537758005
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.30428191456916553,
|
|
-0.3597901673898892,
|
|
-0.02447680634037775
|
|
],
|
|
"position_mm": [
|
|
304.2819145691655,
|
|
-359.79016738988923,
|
|
-24.47680634037775
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6530448621720223,
|
|
-0.22345122452577418,
|
|
-0.02887861256473315
|
|
],
|
|
"position_mm": [
|
|
653.0448621720222,
|
|
-223.45122452577417,
|
|
-28.87861256473315
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10607861112417986,
|
|
-0.18989944384269228,
|
|
-0.027826697107199937
|
|
],
|
|
"position_mm": [
|
|
106.07861112417986,
|
|
-189.89944384269228,
|
|
-27.826697107199937
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.1697972724349953,
|
|
-0.05278343708645485,
|
|
0.09110700749466318
|
|
],
|
|
"position_mm": [
|
|
169.79727243499528,
|
|
-52.78343708645485,
|
|
91.10700749466318
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6503858406901765,
|
|
-0.01069560598114113,
|
|
0.0003220051252904572
|
|
],
|
|
"position_mm": [
|
|
650.3858406901765,
|
|
-10.69560598114113,
|
|
0.3220051252904572
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.35252422013354434,
|
|
-0.09101241779948596,
|
|
0.0011315488919217942
|
|
],
|
|
"position_mm": [
|
|
352.52422013354436,
|
|
-91.01241779948596,
|
|
1.1315488919217942
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.021470352123184763,
|
|
-0.020169798850541137,
|
|
0.0006228688992059401
|
|
],
|
|
"position_mm": [
|
|
21.470352123184764,
|
|
-20.169798850541138,
|
|
0.6228688992059401
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3479233751095064,
|
|
-0.011151537391525886,
|
|
9.800870593580423e-05
|
|
],
|
|
"position_mm": [
|
|
347.92337510950637,
|
|
-11.151537391525887,
|
|
0.09800870593580423
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.6468983169646412,
|
|
-0.09061439560099731,
|
|
-0.0005859493126237698
|
|
],
|
|
"position_mm": [
|
|
646.8983169646411,
|
|
-90.61439560099731,
|
|
-0.5859493126237697
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.16697737024575293,
|
|
-0.1425149741618466,
|
|
0.08475883486879476
|
|
],
|
|
"position_mm": [
|
|
166.97737024575292,
|
|
-142.5149741618466,
|
|
84.75883486879476
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.17024427483596002,
|
|
-0.17434333697602636,
|
|
0.04699248805827561
|
|
],
|
|
"position_mm": [
|
|
170.24427483596003,
|
|
-174.34333697602636,
|
|
46.99248805827561
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.26159565305468224,
|
|
-0.17706791039616224,
|
|
0.052953841952766686
|
|
],
|
|
"position_mm": [
|
|
261.59565305468226,
|
|
-177.06791039616223,
|
|
52.95384195276669
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.2242010286853462,
|
|
-0.17437562420115774,
|
|
0.052156344573200834
|
|
],
|
|
"position_mm": [
|
|
224.2010286853462,
|
|
-174.37562420115773,
|
|
52.15634457320083
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |