919 lines
17 KiB
JSON
919 lines
17 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:37:06Z",
|
|
"summary": {
|
|
"num_cameras": 6,
|
|
"num_markers": 42,
|
|
"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": "c",
|
|
"position_m": [
|
|
0.3025716400208697,
|
|
-0.9019776711250698,
|
|
0.39818619728372245
|
|
],
|
|
"position_mm": [
|
|
302.5716400208697,
|
|
-901.9776711250697,
|
|
398.18619728372244
|
|
],
|
|
"direction": [
|
|
-0.10782834142446518,
|
|
0.9495705962181091,
|
|
-0.2944294512271881
|
|
]
|
|
},
|
|
{
|
|
"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": [
|
|
0.24582134436543834,
|
|
-0.11298980570496704,
|
|
0.3418144864049165
|
|
],
|
|
"position_mm": [
|
|
245.82134436543834,
|
|
-112.98980570496704,
|
|
341.8144864049165
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.21313851626726035,
|
|
-0.07865543349793261,
|
|
0.34291712621899567
|
|
],
|
|
"position_mm": [
|
|
213.13851626726034,
|
|
-78.6554334979326,
|
|
342.9171262189957
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.2674715718710137,
|
|
-0.07572649092694075,
|
|
0.34034251701694573
|
|
],
|
|
"position_mm": [
|
|
267.47157187101374,
|
|
-75.72649092694076,
|
|
340.34251701694575
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.536658637290971,
|
|
0.1833701910506366,
|
|
-0.031852178432586115
|
|
],
|
|
"position_mm": [
|
|
536.658637290971,
|
|
183.3701910506366,
|
|
-31.852178432586115
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.34511946487572565,
|
|
-0.28503685111276617,
|
|
-0.030759929399975863
|
|
],
|
|
"position_mm": [
|
|
345.11946487572567,
|
|
-285.03685111276616,
|
|
-30.759929399975864
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6882423741617409,
|
|
-0.3184687112457373,
|
|
-0.02875743997427611
|
|
],
|
|
"position_mm": [
|
|
688.2423741617409,
|
|
-318.46871124573727,
|
|
-28.75743997427611
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16790575327069474,
|
|
-0.17388338173140544,
|
|
-0.02723244190013811
|
|
],
|
|
"position_mm": [
|
|
167.90575327069473,
|
|
-173.88338173140545,
|
|
-27.23244190013811
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.48705669172509247,
|
|
0.21089046597985692,
|
|
-0.023069734188506445
|
|
],
|
|
"position_mm": [
|
|
487.0566917250925,
|
|
210.8904659798569,
|
|
-23.069734188506445
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.34042708736045185,
|
|
-0.3286668096389909,
|
|
-0.02644246860342108
|
|
],
|
|
"position_mm": [
|
|
340.4270873604519,
|
|
-328.6668096389909,
|
|
-26.44246860342108
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.28476984840636466,
|
|
-0.2608812345400966,
|
|
-0.027601628895812726
|
|
],
|
|
"position_mm": [
|
|
284.76984840636464,
|
|
-260.8812345400966,
|
|
-27.601628895812727
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.4987293301698016,
|
|
0.16724455335148594,
|
|
-0.026481547219985576
|
|
],
|
|
"position_mm": [
|
|
498.7293301698016,
|
|
167.24455335148593,
|
|
-26.481547219985575
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.048807215594248186,
|
|
-0.21730990203286266,
|
|
-0.02636476391341689
|
|
],
|
|
"position_mm": [
|
|
48.807215594248184,
|
|
-217.30990203286265,
|
|
-26.36476391341689
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6254816196059279,
|
|
-0.277128840114667,
|
|
-0.024594566155133796
|
|
],
|
|
"position_mm": [
|
|
625.4816196059279,
|
|
-277.128840114667,
|
|
-24.594566155133798
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4038363315615565,
|
|
-0.17070503795258937,
|
|
-0.02988309184337578
|
|
],
|
|
"position_mm": [
|
|
403.8363315615565,
|
|
-170.70503795258938,
|
|
-29.88309184337578
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.77509698798662,
|
|
-0.23656525245085294,
|
|
-0.027219721515571994
|
|
],
|
|
"position_mm": [
|
|
775.09698798662,
|
|
-236.56525245085294,
|
|
-27.219721515571994
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.022037430413900244,
|
|
-0.1863491408704867,
|
|
-0.029104454851181915
|
|
],
|
|
"position_mm": [
|
|
-22.037430413900243,
|
|
-186.3491408704867,
|
|
-29.104454851181917
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"position_m": [
|
|
0.2098954201687347,
|
|
-0.3650056466174348,
|
|
-0.0301328605382065
|
|
],
|
|
"position_mm": [
|
|
209.8954201687347,
|
|
-365.00564661743476,
|
|
-30.1328605382065
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"position_m": [
|
|
0.5751824715701357,
|
|
0.17384260894975695,
|
|
-0.028023284075497763
|
|
],
|
|
"position_mm": [
|
|
575.1824715701357,
|
|
173.84260894975694,
|
|
-28.023284075497763
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005130706860624347,
|
|
-0.27958316408190975,
|
|
-0.027089401421201136
|
|
],
|
|
"position_mm": [
|
|
5.130706860624347,
|
|
-279.58316408190973,
|
|
-27.089401421201135
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.4417517553381278,
|
|
0.19352601855445326,
|
|
-0.027011392411909082
|
|
],
|
|
"position_mm": [
|
|
441.75175533812785,
|
|
193.52601855445326,
|
|
-27.011392411909082
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3121821353400821,
|
|
-0.1584942868391316,
|
|
-0.027252707942543187
|
|
],
|
|
"position_mm": [
|
|
312.1821353400821,
|
|
-158.4942868391316,
|
|
-27.252707942543186
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"position_m": [
|
|
0.045262256850231546,
|
|
0.3414739805818998,
|
|
-0.02799163506052725
|
|
],
|
|
"position_mm": [
|
|
45.262256850231545,
|
|
341.4739805818998,
|
|
-27.99163506052725
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5063341262381825,
|
|
-0.313796646581251,
|
|
-0.026980467695211938
|
|
],
|
|
"position_mm": [
|
|
506.33412623818253,
|
|
-313.796646581251,
|
|
-26.98046769521194
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.3618882162107888,
|
|
0.29408073872031953,
|
|
-0.027591467492200074
|
|
],
|
|
"position_mm": [
|
|
361.8882162107888,
|
|
294.0807387203195,
|
|
-27.591467492200074
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.648268700524757,
|
|
-0.18531330541791535,
|
|
-0.02905940075935691
|
|
],
|
|
"position_mm": [
|
|
648.268700524757,
|
|
-185.31330541791536,
|
|
-29.059400759356908
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18638209757094965,
|
|
-0.2758303032614199,
|
|
-0.027574105420039498
|
|
],
|
|
"position_mm": [
|
|
186.38209757094964,
|
|
-275.8303032614199,
|
|
-27.574105420039498
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3700951415758647,
|
|
-0.1849212389630942,
|
|
-0.02684011508321583
|
|
],
|
|
"position_mm": [
|
|
370.0951415758647,
|
|
-184.9212389630942,
|
|
-26.84011508321583
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.3042482882476009,
|
|
-0.3598215618564404,
|
|
-0.024432388864981582
|
|
],
|
|
"position_mm": [
|
|
304.2482882476009,
|
|
-359.8215618564404,
|
|
-24.432388864981583
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6530448559812527,
|
|
-0.223451226440547,
|
|
-0.0288786065519732
|
|
],
|
|
"position_mm": [
|
|
653.0448559812527,
|
|
-223.451226440547,
|
|
-28.8786065519732
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10589040622890211,
|
|
-0.18979552774302114,
|
|
-0.027842739681568297
|
|
],
|
|
"position_mm": [
|
|
105.89040622890211,
|
|
-189.79552774302113,
|
|
-27.842739681568297
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.27183229783027524,
|
|
-0.16172414344086677,
|
|
0.23521897682511084
|
|
],
|
|
"position_mm": [
|
|
271.83229783027525,
|
|
-161.72414344086678,
|
|
235.21897682511084
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.17070993681418872,
|
|
-0.052934084847517805,
|
|
0.0906952524749793
|
|
],
|
|
"position_mm": [
|
|
170.70993681418872,
|
|
-52.9340848475178,
|
|
90.6952524749793
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6503858401895775,
|
|
-0.010695606555964857,
|
|
0.00032200587260213274
|
|
],
|
|
"position_mm": [
|
|
650.3858401895775,
|
|
-10.695606555964858,
|
|
0.32200587260213276
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.352721981498738,
|
|
-0.09137563912650974,
|
|
0.0012230750837862766
|
|
],
|
|
"position_mm": [
|
|
352.721981498738,
|
|
-91.37563912650974,
|
|
1.2230750837862767
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.0218282034446844,
|
|
-0.019112338604236764,
|
|
0.000458307302274497
|
|
],
|
|
"position_mm": [
|
|
21.8282034446844,
|
|
-19.112338604236765,
|
|
0.458307302274497
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.34836939258166366,
|
|
-0.011499107108487557,
|
|
0.0003338824324667664
|
|
],
|
|
"position_mm": [
|
|
348.36939258166365,
|
|
-11.499107108487557,
|
|
0.3338824324667664
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.646898317175632,
|
|
-0.09061439619335737,
|
|
-0.0005859497548056673
|
|
],
|
|
"position_mm": [
|
|
646.898317175632,
|
|
-90.61439619335736,
|
|
-0.5859497548056672
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.1672935833485152,
|
|
-0.14269050402736308,
|
|
0.08502800844149244
|
|
],
|
|
"position_mm": [
|
|
167.2935833485152,
|
|
-142.6905040273631,
|
|
85.02800844149245
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"position_m": [
|
|
0.25928007114648355,
|
|
-0.16791179806788722,
|
|
0.028513218065113668
|
|
],
|
|
"position_mm": [
|
|
259.2800711464835,
|
|
-167.91179806788722,
|
|
28.51321806511367
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.17047908366444886,
|
|
-0.17374689807520682,
|
|
0.04661731895335712
|
|
],
|
|
"position_mm": [
|
|
170.47908366444886,
|
|
-173.74689807520681,
|
|
46.61731895335712
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.26204361082699956,
|
|
-0.17803469415438122,
|
|
0.053161035742886324
|
|
],
|
|
"position_mm": [
|
|
262.04361082699955,
|
|
-178.0346941543812,
|
|
53.16103574288633
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.22481223193262623,
|
|
-0.17380653227168957,
|
|
0.051685499328740316
|
|
],
|
|
"position_mm": [
|
|
224.81223193262622,
|
|
-173.80653227168958,
|
|
51.68549932874031
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |