826 lines
15 KiB
JSON
826 lines
15 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-03T04:50:21Z",
|
|
"summary": {
|
|
"num_cameras": 5,
|
|
"num_markers": 38,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.2965491449045601,
|
|
-0.7989052137066848,
|
|
0.801398161144361
|
|
],
|
|
"position_mm": [
|
|
-296.5491449045601,
|
|
-798.9052137066848,
|
|
801.398161144361
|
|
],
|
|
"direction": [
|
|
0.4766221344470978,
|
|
0.6572697162628174,
|
|
-0.5838046073913574
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "c",
|
|
"position_m": [
|
|
0.3037280320901282,
|
|
-0.9002284925907265,
|
|
0.4042794227519738
|
|
],
|
|
"position_mm": [
|
|
303.72803209012824,
|
|
-900.2284925907264,
|
|
404.2794227519738
|
|
],
|
|
"direction": [
|
|
-0.1104506105184555,
|
|
0.9474959373474121,
|
|
-0.3000868856906891
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "d",
|
|
"position_m": [
|
|
0.6998694007459306,
|
|
-0.7986960051436206,
|
|
0.3960629812496366
|
|
],
|
|
"position_mm": [
|
|
699.8694007459306,
|
|
-798.6960051436206,
|
|
396.0629812496366
|
|
],
|
|
"direction": [
|
|
-0.551314651966095,
|
|
0.7866094708442688,
|
|
-0.2780245542526245
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "e",
|
|
"position_m": [
|
|
1.199993510216928,
|
|
-0.898854507188056,
|
|
0.3991201451566491
|
|
],
|
|
"position_mm": [
|
|
1199.993510216928,
|
|
-898.854507188056,
|
|
399.12014515664913
|
|
],
|
|
"direction": [
|
|
-0.7501824498176575,
|
|
0.6059012413024902,
|
|
-0.26478278636932373
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "g",
|
|
"position_m": [
|
|
-0.2079076335893077,
|
|
0.203381580310826,
|
|
1.4005239466434216
|
|
],
|
|
"position_mm": [
|
|
-207.9076335893077,
|
|
203.38158031082602,
|
|
1400.5239466434216
|
|
],
|
|
"direction": [
|
|
0.3016498386859894,
|
|
-0.2984168231487274,
|
|
-0.9055135250091553
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.21532336484814485,
|
|
-0.07831139166635705,
|
|
0.3412071713696926
|
|
],
|
|
"position_mm": [
|
|
215.32336484814485,
|
|
-78.31139166635705,
|
|
341.20717136969256
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.2672378927838168,
|
|
-0.07456591263380213,
|
|
0.3402103324484417
|
|
],
|
|
"position_mm": [
|
|
267.23789278381685,
|
|
-74.56591263380213,
|
|
340.2103324484417
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.34365717041903493,
|
|
-0.28830081105124067,
|
|
-0.02738800447100018
|
|
],
|
|
"position_mm": [
|
|
343.6571704190349,
|
|
-288.30081105124066,
|
|
-27.38800447100018
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16837412922171513,
|
|
-0.17362449197599014,
|
|
-0.027336717938801137
|
|
],
|
|
"position_mm": [
|
|
168.37412922171512,
|
|
-173.62449197599014,
|
|
-27.336717938801137
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.4875971694082808,
|
|
0.21405839219188916,
|
|
-0.027357291949129413
|
|
],
|
|
"position_mm": [
|
|
487.5971694082808,
|
|
214.05839219188917,
|
|
-27.35729194912941
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.33996325055610027,
|
|
-0.32773114092412053,
|
|
-0.027318068015447183
|
|
],
|
|
"position_mm": [
|
|
339.96325055610026,
|
|
-327.73114092412055,
|
|
-27.31806801544718
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.28451938939273447,
|
|
-0.2610574178652026,
|
|
-0.027365097710198998
|
|
],
|
|
"position_mm": [
|
|
284.51938939273447,
|
|
-261.0574178652026,
|
|
-27.365097710199
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.04758923455865648,
|
|
-0.2166972935811987,
|
|
-0.02731072110932811
|
|
],
|
|
"position_mm": [
|
|
47.589234558656486,
|
|
-216.69729358119872,
|
|
-27.31072110932811
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4017948978305217,
|
|
-0.1732773088555254,
|
|
-0.02729167622253364
|
|
],
|
|
"position_mm": [
|
|
401.7948978305217,
|
|
-173.2773088555254,
|
|
-27.291676222533642
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.0188296463722763,
|
|
-0.18973635582806628,
|
|
-0.027089241682439265
|
|
],
|
|
"position_mm": [
|
|
-18.829646372276297,
|
|
-189.73635582806628,
|
|
-27.089241682439265
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"position_m": [
|
|
0.20989426160370495,
|
|
-0.3636216041051144,
|
|
-0.027288154571816842
|
|
],
|
|
"position_mm": [
|
|
209.89426160370493,
|
|
-363.6216041051144,
|
|
-27.288154571816843
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.006200450760149185,
|
|
-0.27790429303902947,
|
|
-0.02725792213029395
|
|
],
|
|
"position_mm": [
|
|
6.2004507601491845,
|
|
-277.9042930390295,
|
|
-27.25792213029395
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.44118199970038113,
|
|
0.19309405033743426,
|
|
-0.027455597918408573
|
|
],
|
|
"position_mm": [
|
|
441.18199970038114,
|
|
193.09405033743425,
|
|
-27.45559791840857
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31151519689610735,
|
|
-0.15987140004923323,
|
|
-0.02731834465766988
|
|
],
|
|
"position_mm": [
|
|
311.51519689610734,
|
|
-159.87140004923322,
|
|
-27.318344657669883
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.506283414886915,
|
|
-0.313710200507046,
|
|
-0.02727440269059755
|
|
],
|
|
"position_mm": [
|
|
506.28341488691495,
|
|
-313.710200507046,
|
|
-27.27440269059755
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.36170640241201063,
|
|
0.29473189856402554,
|
|
-0.027260487887658783
|
|
],
|
|
"position_mm": [
|
|
361.7064024120106,
|
|
294.7318985640255,
|
|
-27.260487887658783
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6467466725075638,
|
|
-0.18687706160756462,
|
|
-0.02765505889685755
|
|
],
|
|
"position_mm": [
|
|
646.7466725075637,
|
|
-186.87706160756463,
|
|
-27.65505889685755
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18677090292222637,
|
|
-0.2769919266347769,
|
|
-0.027409607484519927
|
|
],
|
|
"position_mm": [
|
|
186.77090292222636,
|
|
-276.9919266347769,
|
|
-27.409607484519928
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.371616391600818,
|
|
-0.18443430026801713,
|
|
-0.027286219594972627
|
|
],
|
|
"position_mm": [
|
|
371.616391600818,
|
|
-184.43430026801713,
|
|
-27.28621959497263
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6514052993105747,
|
|
-0.22371657744952037,
|
|
-0.027752992548264445
|
|
],
|
|
"position_mm": [
|
|
651.4052993105747,
|
|
-223.71657744952037,
|
|
-27.752992548264444
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10494892701944036,
|
|
-0.19104673485271345,
|
|
-0.027383460463341155
|
|
],
|
|
"position_mm": [
|
|
104.94892701944036,
|
|
-191.04673485271346,
|
|
-27.383460463341155
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"position_m": [
|
|
0.5225305479185682,
|
|
-0.26800741246890014,
|
|
-0.027471367333090194
|
|
],
|
|
"position_mm": [
|
|
522.5305479185682,
|
|
-268.00741246890016,
|
|
-27.471367333090193
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.2706558699686453,
|
|
-0.16090058105535185,
|
|
0.23499233686525392
|
|
],
|
|
"position_mm": [
|
|
270.65586996864533,
|
|
-160.90058105535184,
|
|
234.99233686525392
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"position_m": [
|
|
0.29410172894631553,
|
|
-0.12104747295200378,
|
|
0.2686927303876621
|
|
],
|
|
"position_mm": [
|
|
294.1017289463155,
|
|
-121.04747295200379,
|
|
268.6927303876621
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.17037152390863064,
|
|
-0.05256004197916701,
|
|
0.0910178543781913
|
|
],
|
|
"position_mm": [
|
|
170.37152390863065,
|
|
-52.56004197916701,
|
|
91.0178543781913
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.649182081981186,
|
|
-0.010779998228581321,
|
|
0.0005820095219582018
|
|
],
|
|
"position_mm": [
|
|
649.182081981186,
|
|
-10.779998228581322,
|
|
0.5820095219582018
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.35211609875240163,
|
|
-0.08920079728784339,
|
|
0.00016778481171010989
|
|
],
|
|
"position_mm": [
|
|
352.1160987524016,
|
|
-89.20079728784339,
|
|
0.1677848117101099
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.021455409151936257,
|
|
-0.02218483931692305,
|
|
0.0018656822723091648
|
|
],
|
|
"position_mm": [
|
|
21.45540915193626,
|
|
-22.184839316923053,
|
|
1.8656822723091648
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.25286478310741717,
|
|
-0.009470247385167324,
|
|
0.0002077696359478637
|
|
],
|
|
"position_mm": [
|
|
252.86478310741717,
|
|
-9.470247385167324,
|
|
0.20776963594786368
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.34795989777931824,
|
|
-0.011948614047031897,
|
|
0.0004843404819662731
|
|
],
|
|
"position_mm": [
|
|
347.9598977793182,
|
|
-11.948614047031898,
|
|
0.4843404819662731
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.2504858715179379,
|
|
-0.08875983588144606,
|
|
0.0001327015305994425
|
|
],
|
|
"position_mm": [
|
|
250.48587151793788,
|
|
-88.75983588144607,
|
|
0.13270153059944248
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"position_m": [
|
|
0.22774116662740318,
|
|
-0.14984788710523844,
|
|
0.16714853404482394
|
|
],
|
|
"position_mm": [
|
|
227.74116662740317,
|
|
-149.84788710523844,
|
|
167.14853404482395
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.16649992745655395,
|
|
-0.1422179474963353,
|
|
0.0873458091641346
|
|
],
|
|
"position_mm": [
|
|
166.49992745655396,
|
|
-142.21794749633528,
|
|
87.34580916413461
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"position_m": [
|
|
0.25844388277665903,
|
|
-0.16781991576284588,
|
|
0.028678515729139983
|
|
],
|
|
"position_mm": [
|
|
258.44388277665905,
|
|
-167.81991576284588,
|
|
28.67851572913998
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.1712339785142025,
|
|
-0.1766837762928648,
|
|
0.046863537563654314
|
|
],
|
|
"position_mm": [
|
|
171.2339785142025,
|
|
-176.6837762928648,
|
|
46.86353756365431
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"position_m": [
|
|
0.29537775722911447,
|
|
-0.1407435690806215,
|
|
0.047821330851258566
|
|
],
|
|
"position_mm": [
|
|
295.3777572291145,
|
|
-140.74356908062148,
|
|
47.821330851258566
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.2603215814335973,
|
|
-0.17704328900868754,
|
|
0.05242766844809047
|
|
],
|
|
"position_mm": [
|
|
260.3215814335973,
|
|
-177.04328900868754,
|
|
52.42766844809047
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.2264192710200634,
|
|
-0.1769278473191665,
|
|
0.05325900442009224
|
|
],
|
|
"position_mm": [
|
|
226.4192710200634,
|
|
-176.9278473191665,
|
|
53.25900442009224
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |