2462 lines
54 KiB
JSON
2462 lines
54 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"stage": "corner_marker_poses",
|
|
"created_utc": "2026-06-01T23:07:08Z",
|
|
"summary": {
|
|
"num_cameras": 7,
|
|
"num_markers": 57
|
|
},
|
|
"markers": [
|
|
{
|
|
"marker_id": 46,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.5366507372796416,
|
|
0.18534957745819378,
|
|
-0.02705207154735569
|
|
],
|
|
"position_mm": [
|
|
536.6507372796416,
|
|
185.34957745819378,
|
|
-27.052071547355688
|
|
],
|
|
"normal": [
|
|
0.010633579851614689,
|
|
0.026020269441860977,
|
|
0.9996048582103392
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.5244715412594158,
|
|
0.173469662278192,
|
|
-0.026570258056018276
|
|
],
|
|
[
|
|
0.5253216478027655,
|
|
0.1973369561485051,
|
|
-0.02728776829312451
|
|
],
|
|
[
|
|
0.548516549850172,
|
|
0.19712504794042093,
|
|
-0.027440245880097303
|
|
],
|
|
[
|
|
0.5482932102062137,
|
|
0.17346664346565713,
|
|
-0.026910013960182666
|
|
]
|
|
],
|
|
"num_cameras": 5,
|
|
"edge_length_mm": 23.644766728263626
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.3441878987213732,
|
|
-0.28654100605855304,
|
|
-0.027310584339435166
|
|
],
|
|
"position_mm": [
|
|
344.1878987213732,
|
|
-286.541006058553,
|
|
-27.310584339435167
|
|
],
|
|
"normal": [
|
|
-0.011002040089154617,
|
|
0.010678725964865632,
|
|
0.9998824530541799
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.33227421540686275,
|
|
-0.2982982660110507,
|
|
-0.027396979965562417
|
|
],
|
|
[
|
|
0.33237961572957164,
|
|
-0.2744708757369155,
|
|
-0.027488961224960032
|
|
],
|
|
[
|
|
0.35616368950052435,
|
|
-0.27478669996394606,
|
|
-0.02738481179526674
|
|
],
|
|
[
|
|
0.355934074248534,
|
|
-0.2986081825222998,
|
|
-0.026971584371951473
|
|
]
|
|
],
|
|
"num_cameras": 5,
|
|
"edge_length_mm": 23.776521110873006
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6886788378780442,
|
|
-0.32066657101342533,
|
|
-0.02726706477080646
|
|
],
|
|
"position_mm": [
|
|
688.6788378780442,
|
|
-320.6665710134253,
|
|
-27.26706477080646
|
|
],
|
|
"normal": [
|
|
-0.012289243854810556,
|
|
-0.013750465730390182,
|
|
0.9998299351278068
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.6768045397057325,
|
|
-0.33234738065853486,
|
|
-0.027452898867104326
|
|
],
|
|
[
|
|
0.6769227011769304,
|
|
-0.30842877400398616,
|
|
-0.02736582889736643
|
|
],
|
|
[
|
|
0.700377340005987,
|
|
-0.3092775566833249,
|
|
-0.02684102397653639
|
|
],
|
|
[
|
|
0.700610770623527,
|
|
-0.33261257270785544,
|
|
-0.027408507342218703
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.636436841240304
|
|
},
|
|
{
|
|
"marker_id": 50,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.5736701628943766,
|
|
0.2122949483223481,
|
|
-0.027719042571212146
|
|
],
|
|
"position_mm": [
|
|
573.6701628943765,
|
|
212.2949483223481,
|
|
-27.719042571212146
|
|
],
|
|
"normal": [
|
|
0.018409314147882543,
|
|
0.006200261584298093,
|
|
0.9998113091523274
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.5617002633180849,
|
|
0.20084686355643278,
|
|
-0.027428179856205437
|
|
],
|
|
[
|
|
0.5618163448026441,
|
|
0.22375160245506048,
|
|
-0.027571279473833157
|
|
],
|
|
[
|
|
0.5852612960111031,
|
|
0.22320852415848533,
|
|
-0.02800072280198378
|
|
],
|
|
[
|
|
0.5859027474456739,
|
|
0.20137280311941386,
|
|
-0.027875988152826218
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.104622085373677
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.1678006366944924,
|
|
-0.17208985861010598,
|
|
-0.02721987563858044
|
|
],
|
|
"position_mm": [
|
|
167.80063669449243,
|
|
-172.08985861010598,
|
|
-27.21987563858044
|
|
],
|
|
"normal": [
|
|
0.003800963174842452,
|
|
0.0010301554608012076,
|
|
0.9999922456992705
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.15564153874408898,
|
|
-0.18393603016904514,
|
|
-0.027223286204597862
|
|
],
|
|
[
|
|
0.15591506779360145,
|
|
-0.16014781995230828,
|
|
-0.0271245122754754
|
|
],
|
|
[
|
|
0.17983212143675303,
|
|
-0.16010001735833249,
|
|
-0.027339707471282577
|
|
],
|
|
[
|
|
0.17981381880352612,
|
|
-0.18417556696073803,
|
|
-0.02719199660296592
|
|
]
|
|
],
|
|
"num_cameras": 5,
|
|
"edge_length_mm": 23.989388531881644
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.48623234835392115,
|
|
0.2121737576432049,
|
|
-0.027264872148370763
|
|
],
|
|
"position_mm": [
|
|
486.23234835392117,
|
|
212.1737576432049,
|
|
-27.264872148370763
|
|
],
|
|
"normal": [
|
|
0.0006808620366286998,
|
|
0.029546865768041778,
|
|
0.9995631641623117
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.47400735742653666,
|
|
0.20020577324725583,
|
|
-0.026957492843976416
|
|
],
|
|
[
|
|
0.474749269077428,
|
|
0.2243424794384804,
|
|
-0.027561770034741636
|
|
],
|
|
[
|
|
0.4983992290752327,
|
|
0.2241193920964875,
|
|
-0.02768134428195454
|
|
],
|
|
[
|
|
0.4977735378364874,
|
|
0.2000273857905959,
|
|
-0.02685888143281045
|
|
]
|
|
],
|
|
"num_cameras": 5,
|
|
"edge_length_mm": 23.922048510932342
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.3422884351990624,
|
|
-0.33066809960361815,
|
|
-0.02711420170356259
|
|
],
|
|
"position_mm": [
|
|
342.2884351990624,
|
|
-330.66809960361815,
|
|
-27.114201703562593
|
|
],
|
|
"normal": [
|
|
0.0004953539957105283,
|
|
0.007040007611538537,
|
|
0.9999750961485233
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.33045179460458,
|
|
-0.3426277587711207,
|
|
-0.026958454817391113
|
|
],
|
|
[
|
|
0.330330640718076,
|
|
-0.3184467014547791,
|
|
-0.027259298820961498
|
|
],
|
|
[
|
|
0.35425266360325425,
|
|
-0.318878050886931,
|
|
-0.02713722583504511
|
|
],
|
|
[
|
|
0.35411864187033926,
|
|
-0.3427198873016418,
|
|
-0.027101827340852636
|
|
]
|
|
],
|
|
"num_cameras": 5,
|
|
"edge_length_mm": 23.90478882781758
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.28378009983655267,
|
|
-0.26253042829438167,
|
|
-0.027413497138432767
|
|
],
|
|
"position_mm": [
|
|
283.78009983655267,
|
|
-262.5304282943817,
|
|
-27.413497138432767
|
|
],
|
|
"normal": [
|
|
-0.00035212760980452446,
|
|
-0.0017059091462602034,
|
|
0.9999984829389148
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.27171244810789286,
|
|
-0.2743268238642208,
|
|
-0.027410699426662126
|
|
],
|
|
[
|
|
0.27180825728793395,
|
|
-0.250646557278309,
|
|
-0.02742474457109989
|
|
],
|
|
[
|
|
0.2957886642963432,
|
|
-0.2507856361463125,
|
|
-0.02736180884895643
|
|
],
|
|
[
|
|
0.2958110296540406,
|
|
-0.27436269588868434,
|
|
-0.02745673570701263
|
|
]
|
|
],
|
|
"num_cameras": 5,
|
|
"edge_length_mm": 23.834317783050867
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.49877750091205597,
|
|
0.16862748772314434,
|
|
-0.02720322730145101
|
|
],
|
|
"position_mm": [
|
|
498.777500912056,
|
|
168.62748772314436,
|
|
-27.203227301451008
|
|
],
|
|
"normal": [
|
|
0.01171599524284902,
|
|
0.03421676617681024,
|
|
0.9993457601690574
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.4866607766096814,
|
|
0.15661036562229,
|
|
-0.02664338905943028
|
|
],
|
|
[
|
|
0.48695895324200705,
|
|
0.18061627251163784,
|
|
-0.027481587864669407
|
|
],
|
|
[
|
|
0.5107039982433997,
|
|
0.18054303239063055,
|
|
-0.02774454205619115
|
|
],
|
|
[
|
|
0.5107862755531358,
|
|
0.15674028036801896,
|
|
-0.0269433902255132
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.928271788040632
|
|
},
|
|
{
|
|
"marker_id": 57,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6030550830598607,
|
|
-0.36392551621515323,
|
|
-0.02706418517440775
|
|
],
|
|
"position_mm": [
|
|
603.0550830598606,
|
|
-363.9255162151532,
|
|
-27.06418517440775
|
|
],
|
|
"normal": [
|
|
0.00961964656126179,
|
|
0.008447031226264556,
|
|
0.9999180516739854
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.5912188433872769,
|
|
-0.37539193370351487,
|
|
-0.02674089853293121
|
|
],
|
|
[
|
|
0.5920574045757018,
|
|
-0.3521457523352611,
|
|
-0.027171654842242224
|
|
],
|
|
[
|
|
0.6147766661899783,
|
|
-0.3522574298655232,
|
|
-0.027163656592757685
|
|
],
|
|
[
|
|
0.6141674180864857,
|
|
-0.37590694895631394,
|
|
-0.027180530729699875
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.15019019305573
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.050181073200358126,
|
|
-0.21821554578287347,
|
|
-0.027177861954792153
|
|
],
|
|
"position_mm": [
|
|
50.18107320035813,
|
|
-218.21554578287348,
|
|
-27.177861954792153
|
|
],
|
|
"normal": [
|
|
-0.007626545054959149,
|
|
0.0024210327487296235,
|
|
0.9999679866930513
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.038214912313519055,
|
|
-0.23007660627078164,
|
|
-0.02725573807736937
|
|
],
|
|
[
|
|
0.038203764989179496,
|
|
-0.2062222438721491,
|
|
-0.02728304815479949
|
|
],
|
|
[
|
|
0.06225009836538362,
|
|
-0.2063067437851398,
|
|
-0.027129784207875967
|
|
],
|
|
[
|
|
0.062055517133350335,
|
|
-0.23025658920342326,
|
|
-0.027042877379123784
|
|
]
|
|
],
|
|
"num_cameras": 6,
|
|
"edge_length_mm": 23.923594707905206
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6261010156661617,
|
|
-0.27872375175248176,
|
|
-0.02724635989097759
|
|
],
|
|
"position_mm": [
|
|
626.1010156661617,
|
|
-278.72375175248175,
|
|
-27.24635989097759
|
|
],
|
|
"normal": [
|
|
-0.0161004540320489,
|
|
0.014166283058976603,
|
|
0.9997700194566024
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.6143109366381271,
|
|
-0.2904599216724425,
|
|
-0.027403280180177698
|
|
],
|
|
[
|
|
0.614449029700606,
|
|
-0.26658325121395626,
|
|
-0.02747346858942314
|
|
],
|
|
[
|
|
0.6379651927900711,
|
|
-0.2669403047656119,
|
|
-0.02735424613142068
|
|
],
|
|
[
|
|
0.6376789035358427,
|
|
-0.29091152935791653,
|
|
-0.026754444662888854
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.689529967904775
|
|
},
|
|
{
|
|
"marker_id": 60,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.4342225196782632,
|
|
0.28401930635432165,
|
|
-0.02745679300058019
|
|
],
|
|
"position_mm": [
|
|
434.2225196782632,
|
|
284.01930635432166,
|
|
-27.456793000580188
|
|
],
|
|
"normal": [
|
|
0.0026848140524448768,
|
|
-0.0005768713388283886,
|
|
0.9999962294893727
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.4222083826324222,
|
|
0.2725564093302455,
|
|
-0.027493860251633577
|
|
],
|
|
[
|
|
0.4223454651062553,
|
|
0.2955150217773154,
|
|
-0.02735646478977165
|
|
],
|
|
[
|
|
0.4464143541700786,
|
|
0.2957215749131489,
|
|
-0.02754331140258358
|
|
],
|
|
[
|
|
0.44592187680429646,
|
|
0.2722842193965768,
|
|
-0.027433535558331952
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.546963097870613
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"link": "Board",
|
|
"position_m": [
|
|
-0.022462269772677967,
|
|
0.33589120868971295,
|
|
-0.02731405150900375
|
|
],
|
|
"position_mm": [
|
|
-22.462269772677967,
|
|
335.8912086897129,
|
|
-27.31405150900375
|
|
],
|
|
"normal": [
|
|
-0.019636991634548632,
|
|
-0.017901860481907672,
|
|
0.9996468936333625
|
|
],
|
|
"corners_m": [
|
|
[
|
|
-0.034247067623980935,
|
|
0.3245975870306101,
|
|
-0.027684298696249623
|
|
],
|
|
[
|
|
-0.03442087057148343,
|
|
0.34766703307644004,
|
|
-0.027401255320196084
|
|
],
|
|
[
|
|
-0.010618207122104378,
|
|
0.34699412976049077,
|
|
-0.02681833597659582
|
|
],
|
|
[
|
|
-0.010562933773143128,
|
|
0.32430608489131085,
|
|
-0.027352316042973477
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.318448275475138
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.4046254074468088,
|
|
-0.17506156526797706,
|
|
-0.027295445527824782
|
|
],
|
|
"position_mm": [
|
|
404.6254074468088,
|
|
-175.06156526797707,
|
|
-27.295445527824782
|
|
],
|
|
"normal": [
|
|
0.003030171269232694,
|
|
0.004751784442484696,
|
|
0.9999841191772454
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.39255151160202767,
|
|
-0.18683135473025872,
|
|
-0.02723009842688299
|
|
],
|
|
[
|
|
0.39277038829505007,
|
|
-0.16302407662546367,
|
|
-0.027289396445559014
|
|
],
|
|
[
|
|
0.41662985676975267,
|
|
-0.16321088835488579,
|
|
-0.027415277917547307
|
|
],
|
|
[
|
|
0.416549873120405,
|
|
-0.18717994136129998,
|
|
-0.02724700932130981
|
|
]
|
|
],
|
|
"num_cameras": 6,
|
|
"edge_length_mm": 23.909891512360165
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.777233775735207,
|
|
-0.23617210112175274,
|
|
-0.027310814418419222
|
|
],
|
|
"position_mm": [
|
|
777.233775735207,
|
|
-236.17210112175275,
|
|
-27.310814418419223
|
|
],
|
|
"normal": [
|
|
-0.00890863723327534,
|
|
0.011986176207058667,
|
|
0.9998884776626739
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.765362385168045,
|
|
-0.24798245644106467,
|
|
-0.027310542259342162
|
|
],
|
|
[
|
|
0.7656620538888259,
|
|
-0.2240057053759666,
|
|
-0.02752401167050663
|
|
],
|
|
[
|
|
0.7890346703914545,
|
|
-0.22455186856955323,
|
|
-0.027381292760078054
|
|
],
|
|
[
|
|
0.7888759934925029,
|
|
-0.24814837410042642,
|
|
-0.027027410983750045
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.618649259030676
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"link": "Board",
|
|
"position_m": [
|
|
-0.021321332309288947,
|
|
-0.18811279313930782,
|
|
-0.027336047409109915
|
|
],
|
|
"position_mm": [
|
|
-21.321332309288948,
|
|
-188.11279313930783,
|
|
-27.336047409109916
|
|
],
|
|
"normal": [
|
|
0.005521316280592567,
|
|
-0.003357112171847643,
|
|
0.9999791222142568
|
|
],
|
|
"corners_m": [
|
|
[
|
|
-0.03330719493846529,
|
|
-0.20029019795473893,
|
|
-0.02716551479155908
|
|
],
|
|
[
|
|
-0.03343448973458117,
|
|
-0.17619233315418736,
|
|
-0.0273747971854619
|
|
],
|
|
[
|
|
-0.009366544053034748,
|
|
-0.1761521533096863,
|
|
-0.027213602227188376
|
|
],
|
|
[
|
|
-0.009177100511074582,
|
|
-0.19981648813861877,
|
|
-0.027590275432230308
|
|
]
|
|
],
|
|
"num_cameras": 5,
|
|
"edge_length_mm": 23.993550178237985
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.20972362793247645,
|
|
-0.36328722128506824,
|
|
-0.02701589869589807
|
|
],
|
|
"position_mm": [
|
|
209.72362793247646,
|
|
-363.28722128506826,
|
|
-27.01589869589807
|
|
],
|
|
"normal": [
|
|
-0.007075317886577923,
|
|
0.022156343794298095,
|
|
0.999729481563124
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.19746775690786064,
|
|
-0.3753369061853979,
|
|
-0.026623352102772575
|
|
],
|
|
[
|
|
0.19824610192270137,
|
|
-0.3512879534575158,
|
|
-0.02757900008118373
|
|
],
|
|
[
|
|
0.2217712701676161,
|
|
-0.3512162901407183,
|
|
-0.02698243133557983
|
|
],
|
|
[
|
|
0.22140938273172775,
|
|
-0.3753077353566409,
|
|
-0.026878811264056137
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.912686947593425
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.573821193023138,
|
|
0.17071927417787156,
|
|
-0.027414189343641357
|
|
],
|
|
"position_mm": [
|
|
573.8211930231381,
|
|
170.71927417787157,
|
|
-27.414189343641358
|
|
],
|
|
"normal": [
|
|
-0.004857773994033927,
|
|
0.025610994845729707,
|
|
0.9996601817491957
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.5617891963175494,
|
|
0.15896514340090495,
|
|
-0.027554859873026773
|
|
],
|
|
[
|
|
0.5620560359455604,
|
|
0.18243374805380688,
|
|
-0.02738480574178061
|
|
],
|
|
[
|
|
0.5857548688420083,
|
|
0.1828737028541814,
|
|
-0.028040957777283017
|
|
],
|
|
[
|
|
0.5856846709874342,
|
|
0.15860450240259302,
|
|
-0.026676133982475016
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.85118201499478
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.007558857969296406,
|
|
-0.2812539339731809,
|
|
-0.02723568537339948
|
|
],
|
|
"position_mm": [
|
|
7.5588579692964055,
|
|
-281.2539339731809,
|
|
-27.23568537339948
|
|
],
|
|
"normal": [
|
|
0.000785547516830788,
|
|
0.0020769473363027864,
|
|
0.9999975345993913
|
|
],
|
|
"corners_m": [
|
|
[
|
|
-0.004414957189594899,
|
|
-0.29318464951669293,
|
|
-0.027173798348085643
|
|
],
|
|
[
|
|
-0.004292125691025609,
|
|
-0.2693351975523467,
|
|
-0.027278556798944812
|
|
],
|
|
[
|
|
0.019651740781545916,
|
|
-0.2693160043765804,
|
|
-0.027242569395356107
|
|
],
|
|
[
|
|
0.019290773976260216,
|
|
-0.2931798844471037,
|
|
-0.027247816951211375
|
|
]
|
|
],
|
|
"num_cameras": 5,
|
|
"edge_length_mm": 23.84158931248092
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.7498582240464532,
|
|
-0.2839248615857573,
|
|
-0.0271822187102986
|
|
],
|
|
"position_mm": [
|
|
749.8582240464532,
|
|
-283.9248615857573,
|
|
-27.1822187102986
|
|
],
|
|
"normal": [
|
|
-0.003302111488537338,
|
|
-0.022879417414627155,
|
|
0.9997327784555654
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.7380548326936776,
|
|
-0.29589461444091075,
|
|
-0.027518635933852748
|
|
],
|
|
[
|
|
0.7380010903795271,
|
|
-0.27162610795627395,
|
|
-0.026915883944053406
|
|
],
|
|
[
|
|
0.7614066070383717,
|
|
-0.272485905272933,
|
|
-0.02690742026965771
|
|
],
|
|
[
|
|
0.7619703660742365,
|
|
-0.2956928186729115,
|
|
-0.027386934693630537
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.70820362774042
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.4409651447099331,
|
|
0.194319035133656,
|
|
-0.027210152283000045
|
|
],
|
|
"position_mm": [
|
|
440.9651447099331,
|
|
194.319035133656,
|
|
-27.210152283000046
|
|
],
|
|
"normal": [
|
|
0.0002278518353679114,
|
|
0.012661738469815408,
|
|
0.9999198110160951
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.42881491879059513,
|
|
0.18275542592795055,
|
|
-0.02719014239568123
|
|
],
|
|
[
|
|
0.4292709098381347,
|
|
0.20619487615031043,
|
|
-0.027229298061828333
|
|
],
|
|
[
|
|
0.45317859852231546,
|
|
0.20613926890950182,
|
|
-0.027488378444880588
|
|
],
|
|
[
|
|
0.45259615168868705,
|
|
0.1821865695468612,
|
|
-0.026932790229610027
|
|
]
|
|
],
|
|
"num_cameras": 6,
|
|
"edge_length_mm": 23.777180804581022
|
|
},
|
|
{
|
|
"marker_id": 73,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.22172799286487616,
|
|
0.3330172693266687,
|
|
-0.026972794517392203
|
|
],
|
|
"position_mm": [
|
|
221.72799286487614,
|
|
333.0172693266687,
|
|
-26.972794517392202
|
|
],
|
|
"normal": [
|
|
0.009313839779419492,
|
|
0.08401303678236849,
|
|
0.996421126853083
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.21035770800279455,
|
|
0.3202480538033237,
|
|
-0.02526492429233154
|
|
],
|
|
[
|
|
0.20944579437095343,
|
|
0.34538330940818285,
|
|
-0.028417328230214794
|
|
],
|
|
[
|
|
0.23330851678967723,
|
|
0.34526414813153217,
|
|
-0.027570242741814074
|
|
],
|
|
[
|
|
0.23379995229607947,
|
|
0.32117356596363605,
|
|
-0.026638682805208407
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 24.2102287007816
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"link": "Board",
|
|
"position_m": [
|
|
-0.025596597815034632,
|
|
0.19483990051090666,
|
|
-0.027358899707646732
|
|
],
|
|
"position_mm": [
|
|
-25.59659781503463,
|
|
194.83990051090666,
|
|
-27.35889970764673
|
|
],
|
|
"normal": [
|
|
-0.016347109758100237,
|
|
-0.01098243151512024,
|
|
0.9998060602939814
|
|
],
|
|
"corners_m": [
|
|
[
|
|
-0.03741392792263101,
|
|
0.18366301719926467,
|
|
-0.027897876414944456
|
|
],
|
|
[
|
|
-0.037676931288610584,
|
|
0.206330145838382,
|
|
-0.0272083932501162
|
|
],
|
|
[
|
|
-0.013712069088663181,
|
|
0.206589164681172,
|
|
-0.027246711458508984
|
|
],
|
|
[
|
|
-0.013583462960233762,
|
|
0.18277727432480795,
|
|
-0.02708261770701729
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.579771225007928
|
|
},
|
|
{
|
|
"marker_id": 76,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6849441059791422,
|
|
0.1664737968197214,
|
|
-0.026751786514667558
|
|
],
|
|
"position_mm": [
|
|
684.9441059791423,
|
|
166.4737968197214,
|
|
-26.751786514667558
|
|
],
|
|
"normal": [
|
|
0.03168637045734341,
|
|
-0.019915420156738976,
|
|
0.9992994295841565
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.6727666534939615,
|
|
0.1554208972492195,
|
|
-0.026830826253467627
|
|
],
|
|
[
|
|
0.6726799134311064,
|
|
0.17676948959635286,
|
|
-0.025910123121076482
|
|
],
|
|
[
|
|
0.6969656828611684,
|
|
0.17789635691696373,
|
|
-0.027144802066874456
|
|
],
|
|
[
|
|
0.6973641741303326,
|
|
0.15580844351634962,
|
|
-0.027121394617251667
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.10141314481038
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.3122694474171652,
|
|
-0.15904390722584696,
|
|
-0.02734687083221421
|
|
],
|
|
"position_mm": [
|
|
312.2694474171652,
|
|
-159.04390722584697,
|
|
-27.346870832214208
|
|
],
|
|
"normal": [
|
|
-0.007887361149137162,
|
|
0.0031041265113899157,
|
|
0.9999640763210969
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.3001847859164252,
|
|
-0.17084469754229906,
|
|
-0.027404592373307307
|
|
],
|
|
[
|
|
0.30031130952267665,
|
|
-0.1470776972779523,
|
|
-0.027479318094195168
|
|
],
|
|
[
|
|
0.32417797420162914,
|
|
-0.14723816188089336,
|
|
-0.02728860899840669
|
|
],
|
|
[
|
|
0.3244037200279299,
|
|
-0.1710150722022431,
|
|
-0.027214963862947663
|
|
]
|
|
],
|
|
"num_cameras": 6,
|
|
"edge_length_mm": 23.908448059976923
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.21919993547464645,
|
|
0.296953323494234,
|
|
-0.027087258699716794
|
|
],
|
|
"position_mm": [
|
|
219.19993547464645,
|
|
296.953323494234,
|
|
-27.087258699716795
|
|
],
|
|
"normal": [
|
|
-0.029804844957900475,
|
|
0.0359757136867438,
|
|
0.998908113512832
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.20752285217422145,
|
|
0.28479344031849385,
|
|
-0.026858935655197487
|
|
],
|
|
[
|
|
0.20707462389877607,
|
|
0.30974866094539455,
|
|
-0.028046285838817162
|
|
],
|
|
[
|
|
0.2310760413447057,
|
|
0.30838770429014417,
|
|
-0.026999747684295486
|
|
],
|
|
[
|
|
0.23112622448088255,
|
|
0.2848834884229033,
|
|
-0.02644406562055704
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 24.04205983124973
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.044302489694124064,
|
|
0.3392413046143761,
|
|
-0.027241388387182708
|
|
],
|
|
"position_mm": [
|
|
44.30248969412406,
|
|
339.24130461437613,
|
|
-27.24138838718271
|
|
],
|
|
"normal": [
|
|
0.008408574515659312,
|
|
0.019093571166377887,
|
|
0.9997823420198664
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.03251223980885028,
|
|
0.3271738148295305,
|
|
-0.0270467709172612
|
|
],
|
|
[
|
|
0.03259650533971352,
|
|
0.3507515699329286,
|
|
-0.027225599218554372
|
|
],
|
|
[
|
|
0.0559038654527201,
|
|
0.351364321230424,
|
|
-0.027706891803814606
|
|
],
|
|
[
|
|
0.05619734817521235,
|
|
0.32767551246462134,
|
|
-0.026986291609100647
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.572761532027844
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.40742852595365225,
|
|
0.2584163129281405,
|
|
-0.027347827672525065
|
|
],
|
|
"position_mm": [
|
|
407.42852595365224,
|
|
258.4163129281405,
|
|
-27.347827672525064
|
|
],
|
|
"normal": [
|
|
0.0010945847483500705,
|
|
0.03183152975199149,
|
|
0.9994926490964687
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.39533045518142,
|
|
0.2463737413126614,
|
|
-0.026907247584167845
|
|
],
|
|
[
|
|
0.3955499970214461,
|
|
0.2704650548672976,
|
|
-0.027762331725272336
|
|
],
|
|
[
|
|
0.41953164141840543,
|
|
0.27055654901648984,
|
|
-0.02770427485531132
|
|
],
|
|
[
|
|
0.4193020101933375,
|
|
0.24626990651611322,
|
|
-0.027017456525348756
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 24.089710758214217
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.5044885257835108,
|
|
-0.3127725953516077,
|
|
-0.027197885054709957
|
|
],
|
|
"position_mm": [
|
|
504.4885257835108,
|
|
-312.77259535160766,
|
|
-27.197885054709957
|
|
],
|
|
"normal": [
|
|
-0.01281526344805228,
|
|
0.005987022943921061,
|
|
0.9998999572852406
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.49268308981169845,
|
|
-0.32458661765562796,
|
|
-0.02724977124705169
|
|
],
|
|
[
|
|
0.49295405948067283,
|
|
-0.30063530609167055,
|
|
-0.027446612993300607
|
|
],
|
|
[
|
|
0.5164803562009441,
|
|
-0.3009939363438363,
|
|
-0.027086416071787855
|
|
],
|
|
[
|
|
0.5158365976407278,
|
|
-0.324874521315296,
|
|
-0.02700873990669968
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.632844725711124
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.3629602518559464,
|
|
0.2919578092739785,
|
|
-0.02720247546498792
|
|
],
|
|
"position_mm": [
|
|
362.96025185594635,
|
|
291.9578092739785,
|
|
-27.20247546498792
|
|
],
|
|
"normal": [
|
|
-0.008666500514011126,
|
|
0.01343156153650227,
|
|
0.9998722342997288
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.35104769530294394,
|
|
0.2797880706019104,
|
|
-0.027143006481283545
|
|
],
|
|
[
|
|
0.35116435338590407,
|
|
0.30429334933247076,
|
|
-0.027469669954750142
|
|
],
|
|
[
|
|
0.3749115146697649,
|
|
0.30376203601895946,
|
|
-0.02725823375254037
|
|
],
|
|
[
|
|
0.3747174440651726,
|
|
0.27998778114257344,
|
|
-0.02693899167137762
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.927609873094628
|
|
},
|
|
{
|
|
"marker_id": 90,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6433001805370793,
|
|
0.316479740800128,
|
|
-0.027269429719961352
|
|
],
|
|
"position_mm": [
|
|
643.3001805370793,
|
|
316.47974080012796,
|
|
-27.26942971996135
|
|
],
|
|
"normal": [
|
|
0.05837396861780794,
|
|
0.03223087949422476,
|
|
0.9977743483347505
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.631054324258487,
|
|
0.304340546035368,
|
|
-0.026406267414041402
|
|
],
|
|
[
|
|
0.631481432990128,
|
|
0.32743826429721956,
|
|
-0.026683406412835578
|
|
],
|
|
[
|
|
0.6553652696465999,
|
|
0.32904346149292935,
|
|
-0.028620469929946896
|
|
],
|
|
[
|
|
0.6552996952531022,
|
|
0.30509669137499507,
|
|
-0.02736757512302153
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.843776537713076
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6451362302424958,
|
|
-0.18483931366279163,
|
|
-0.027225892856726174
|
|
],
|
|
"position_mm": [
|
|
645.1362302424958,
|
|
-184.83931366279162,
|
|
-27.225892856726173
|
|
],
|
|
"normal": [
|
|
0.002963655271114392,
|
|
0.02003228903687677,
|
|
0.9997949410471014
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.6329377930594392,
|
|
-0.1967878452167362,
|
|
-0.026943631399188255
|
|
],
|
|
[
|
|
0.6335902186933473,
|
|
-0.1727987234694734,
|
|
-0.027439655632418167
|
|
],
|
|
[
|
|
0.6572581079396608,
|
|
-0.17303718691128434,
|
|
-0.027491475937661523
|
|
],
|
|
[
|
|
0.6567588012775358,
|
|
-0.19673349905367254,
|
|
-0.02702880845763675
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.799893710073928
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.18601860062494957,
|
|
-0.2739236332163886,
|
|
-0.02729334284560446
|
|
],
|
|
"position_mm": [
|
|
186.01860062494956,
|
|
-273.92363321638857,
|
|
-27.29334284560446
|
|
],
|
|
"normal": [
|
|
-0.007088881654625585,
|
|
0.0015530116166083692,
|
|
0.9999736676092054
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.17398045613185092,
|
|
-0.28591245624726946,
|
|
-0.027292859253512207
|
|
],
|
|
[
|
|
0.17411582679024856,
|
|
-0.26177961249673676,
|
|
-0.02746362619207356
|
|
],
|
|
[
|
|
0.1980829922999331,
|
|
-0.2621039578304174,
|
|
-0.02715817619065954
|
|
],
|
|
[
|
|
0.1978951272777657,
|
|
-0.28589850629113067,
|
|
-0.027258709746172536
|
|
]
|
|
],
|
|
"num_cameras": 6,
|
|
"edge_length_mm": 23.953833964440502
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.36972491180886635,
|
|
-0.18645298606596947,
|
|
-0.0272899420422475
|
|
],
|
|
"position_mm": [
|
|
369.72491180886635,
|
|
-186.45298606596947,
|
|
-27.289942042247503
|
|
],
|
|
"normal": [
|
|
-0.003680689936043847,
|
|
0.019881297121176807,
|
|
0.9997955723778608
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.3575197544978234,
|
|
-0.19841595743551685,
|
|
-0.027060216715926413
|
|
],
|
|
[
|
|
0.3580041268962923,
|
|
-0.17417540545644108,
|
|
-0.02761420528878026
|
|
],
|
|
[
|
|
0.3818631267726538,
|
|
-0.17461319189397936,
|
|
-0.02744333906133503
|
|
],
|
|
[
|
|
0.38151263906869576,
|
|
-0.19860738947794054,
|
|
-0.0270420071029483
|
|
]
|
|
],
|
|
"num_cameras": 6,
|
|
"edge_length_mm": 24.027278759756204
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.3045199028536636,
|
|
-0.359632860775951,
|
|
-0.027195885676958957
|
|
],
|
|
"position_mm": [
|
|
304.5199028536636,
|
|
-359.63286077595103,
|
|
-27.19588567695896
|
|
],
|
|
"normal": [
|
|
-0.0011280489848590396,
|
|
0.014201022703751232,
|
|
0.9998985240811467
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.2924079451899423,
|
|
-0.3716941263014184,
|
|
-0.026982181049834183
|
|
],
|
|
[
|
|
0.29308235341157746,
|
|
-0.3473542396398152,
|
|
-0.02744014912618911
|
|
],
|
|
[
|
|
0.31644124394333223,
|
|
-0.3477427575147211,
|
|
-0.027293509731628078
|
|
],
|
|
[
|
|
0.31614806886980246,
|
|
-0.37174031964784937,
|
|
-0.027067702800184446
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.86421347626421
|
|
},
|
|
{
|
|
"marker_id": 98,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.5753448164871008,
|
|
0.3151662703513654,
|
|
-0.02755580702707258
|
|
],
|
|
"position_mm": [
|
|
575.3448164871007,
|
|
315.1662703513654,
|
|
-27.55580702707258
|
|
],
|
|
"normal": [
|
|
0.050461002481635014,
|
|
-0.06729563684473616,
|
|
0.996456213032068
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.563304496916211,
|
|
0.30302589095114546,
|
|
-0.026914626229666783
|
|
],
|
|
[
|
|
0.5639594299961515,
|
|
0.32646391670249136,
|
|
-0.027180471568337475
|
|
],
|
|
[
|
|
0.5862370265938932,
|
|
0.324912735472237,
|
|
-0.02627201434424318
|
|
],
|
|
[
|
|
0.5878783124421474,
|
|
0.3062625382795879,
|
|
-0.02985611596604289
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 22.45523019266308
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6496825351439819,
|
|
-0.2230455219563379,
|
|
-0.02718616694491754
|
|
],
|
|
"position_mm": [
|
|
649.6825351439819,
|
|
-223.0455219563379,
|
|
-27.18616694491754
|
|
],
|
|
"normal": [
|
|
0.00036384386365137067,
|
|
0.00698952566748834,
|
|
0.9999755067743342
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.6375967027953329,
|
|
-0.23483634061904393,
|
|
-0.027094437294880133
|
|
],
|
|
[
|
|
0.6380596355102127,
|
|
-0.21090162665320125,
|
|
-0.027271778497572625
|
|
],
|
|
[
|
|
0.6616696893899879,
|
|
-0.211385019831891,
|
|
-0.027267018450896414
|
|
],
|
|
[
|
|
0.661404112880394,
|
|
-0.23505910072121539,
|
|
-0.027111433536320992
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.759847404185226
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.10574442425824537,
|
|
-0.18775168688259183,
|
|
-0.027213042879345853
|
|
],
|
|
"position_mm": [
|
|
105.74442425824537,
|
|
-187.75168688259183,
|
|
-27.213042879345853
|
|
],
|
|
"normal": [
|
|
-0.005697116588228596,
|
|
0.014250456901161668,
|
|
0.9998822267350732
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.09367317433713107,
|
|
-0.19971710505212334,
|
|
-0.02714385411028828
|
|
],
|
|
[
|
|
0.093676128116125,
|
|
-0.17576319654618083,
|
|
-0.027420046114282632
|
|
],
|
|
[
|
|
0.11779515286569321,
|
|
-0.17577600938211016,
|
|
-0.027347649942246352
|
|
],
|
|
[
|
|
0.11783324171403217,
|
|
-0.1997504365499531,
|
|
-0.02694062135056615
|
|
]
|
|
],
|
|
"num_cameras": 7,
|
|
"edge_length_mm": 24.05337380215306
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.5247368486765882,
|
|
-0.26626260060711593,
|
|
-0.027138439956830216
|
|
],
|
|
"position_mm": [
|
|
524.7368486765882,
|
|
-266.2626006071159,
|
|
-27.138439956830215
|
|
],
|
|
"normal": [
|
|
-0.007945035017887615,
|
|
0.002421842605082935,
|
|
0.9999655049535263
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.5128152871778244,
|
|
-0.27802804055499003,
|
|
-0.027279339290158435
|
|
],
|
|
[
|
|
0.5129548951159466,
|
|
-0.25401760304815285,
|
|
-0.02718863669823106
|
|
],
|
|
[
|
|
0.5369120405987369,
|
|
-0.2546752364497938,
|
|
-0.027143916534198485
|
|
],
|
|
[
|
|
0.536265171813845,
|
|
-0.27832952237552705,
|
|
-0.02694186730473289
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.77386716000575
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"link": "Arm2",
|
|
"position_m": [
|
|
0.2651534764809157,
|
|
0.0389378237249602,
|
|
0.09339803424934243
|
|
],
|
|
"position_mm": [
|
|
265.1534764809157,
|
|
38.9378237249602,
|
|
93.39803424934243
|
|
],
|
|
"normal": [
|
|
0.4998906233324481,
|
|
-0.02742532577088597,
|
|
0.8656542128417428
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.27566281480013516,
|
|
0.026943596289410968,
|
|
0.08703717500843886
|
|
],
|
|
[
|
|
0.2546279192349051,
|
|
0.0267688837150331,
|
|
0.09900169044159783
|
|
],
|
|
[
|
|
0.2546696516777364,
|
|
0.05078465510090034,
|
|
0.09991606519193455
|
|
],
|
|
[
|
|
0.27565352021088596,
|
|
0.05125415979449641,
|
|
0.08763720635539851
|
|
]
|
|
],
|
|
"num_cameras": 7,
|
|
"edge_length_mm": 24.217065299475816
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"link": "Arm1",
|
|
"position_m": [
|
|
0.16009311998764514,
|
|
-0.05212802949022182,
|
|
0.09614757514418373
|
|
],
|
|
"position_mm": [
|
|
160.09311998764514,
|
|
-52.12802949022182,
|
|
96.14757514418373
|
|
],
|
|
"normal": [
|
|
-0.00953420093995817,
|
|
0.003621158128941482,
|
|
0.9999479917606924
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.14794121573639676,
|
|
-0.03994142768113962,
|
|
0.0958769948483019
|
|
],
|
|
[
|
|
0.17239384390834536,
|
|
-0.04032988579460953,
|
|
0.09633419567049017
|
|
],
|
|
[
|
|
0.17207478576341043,
|
|
-0.06415568459365904,
|
|
0.09619171003275763
|
|
],
|
|
[
|
|
0.14796263454242803,
|
|
-0.06408511989147911,
|
|
0.0961874000251852
|
|
]
|
|
],
|
|
"num_cameras": 5,
|
|
"edge_length_mm": 24.136574932349834
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.750009918451509,
|
|
-0.08987695877025434,
|
|
0.0005048862273819994
|
|
],
|
|
"position_mm": [
|
|
750.009918451509,
|
|
-89.87695877025433,
|
|
0.5048862273819994
|
|
],
|
|
"normal": [
|
|
0.001304386720419819,
|
|
-0.0042857575032298,
|
|
0.9999899653786067
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.7385310670598105,
|
|
-0.0777269870741812,
|
|
0.000826893442514584
|
|
],
|
|
[
|
|
0.7621893860340742,
|
|
-0.07799818368561943,
|
|
0.00028366421234406994
|
|
],
|
|
[
|
|
0.7612234983075759,
|
|
-0.10196709701985432,
|
|
0.0007006059108131441
|
|
],
|
|
[
|
|
0.7380957224045758,
|
|
-0.10181556730136243,
|
|
0.0002083813438561996
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.72301504393213
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6499985918643334,
|
|
-0.009858481643475019,
|
|
0.00027334079201768864
|
|
],
|
|
"position_mm": [
|
|
649.9985918643334,
|
|
-9.858481643475018,
|
|
0.2733407920176886
|
|
],
|
|
"normal": [
|
|
0.00938853130133516,
|
|
-0.013996002179982871,
|
|
0.999857973615744
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.6384351896671119,
|
|
0.001808404919518331,
|
|
0.0004668344419759871
|
|
],
|
|
[
|
|
0.6619529850239122,
|
|
0.0014619140218061315,
|
|
0.00039844787545406305
|
|
],
|
|
[
|
|
0.6619812129347475,
|
|
-0.021454221978382888,
|
|
-7.767733310985278e-05
|
|
],
|
|
[
|
|
0.6376249798315617,
|
|
-0.021250023536841647,
|
|
0.00030575818375055725
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.468718417386768
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.349986795972111,
|
|
-0.08987170116459954,
|
|
0.00032017994267347473
|
|
],
|
|
"position_mm": [
|
|
349.986795972111,
|
|
-89.87170116459954,
|
|
0.3201799426734747
|
|
],
|
|
"normal": [
|
|
0.00464079596782372,
|
|
0.019986558692103203,
|
|
0.9997894780824772
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.33790701366852666,
|
|
-0.07777538536939889,
|
|
0.00021481301108008523
|
|
],
|
|
[
|
|
0.3622175189885154,
|
|
-0.07767431958366365,
|
|
-5.8878573514989054e-05
|
|
],
|
|
[
|
|
0.36193118151151593,
|
|
-0.10225656346466608,
|
|
0.0005916583601245849
|
|
],
|
|
[
|
|
0.33789146971988604,
|
|
-0.10178053624066959,
|
|
0.0005331269730042178
|
|
]
|
|
],
|
|
"num_cameras": 6,
|
|
"edge_length_mm": 24.2391337682734
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.020033232550597267,
|
|
-0.019998209473305138,
|
|
0.00043492437839200057
|
|
],
|
|
"position_mm": [
|
|
20.033232550597265,
|
|
-19.99820947330514,
|
|
0.43492437839200054
|
|
],
|
|
"normal": [
|
|
-0.011477098898427242,
|
|
0.0038783307356905477,
|
|
0.9999266146830879
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.007995782934113665,
|
|
-0.008087043879071415,
|
|
0.00039481361603783065
|
|
],
|
|
[
|
|
0.032019206831755194,
|
|
-0.007975312811929874,
|
|
0.000384094133301167
|
|
],
|
|
[
|
|
0.03213389630204795,
|
|
-0.03211669232403117,
|
|
0.0007618083062231679
|
|
],
|
|
[
|
|
0.007984044134472262,
|
|
-0.03181378887818809,
|
|
0.00019898145800583653
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 24.013539385470896
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.249516037447963,
|
|
-0.009177002150272414,
|
|
-1.0196628815476907e-05
|
|
],
|
|
"position_mm": [
|
|
249.516037447963,
|
|
-9.177002150272415,
|
|
-0.010196628815476907
|
|
],
|
|
"normal": [
|
|
-0.08140817113289761,
|
|
0.047269153460397735,
|
|
0.9955593085316085
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.2342784137882397,
|
|
0.0076385355650210604,
|
|
-0.0023687518079993793
|
|
],
|
|
[
|
|
0.2625536840941371,
|
|
0.0008218386987502859,
|
|
0.0009448012354464099
|
|
],
|
|
[
|
|
0.26370921814450826,
|
|
-0.023969526900530114,
|
|
0.0014646976374148245
|
|
],
|
|
[
|
|
0.23752283376496697,
|
|
-0.02119885596433089,
|
|
-8.153358012376271e-05
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 27.396115690500082
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.34991485972310804,
|
|
-0.010211180553883004,
|
|
0.000515785829290039
|
|
],
|
|
"position_mm": [
|
|
349.91485972310807,
|
|
-10.211180553883004,
|
|
0.515785829290039
|
|
],
|
|
"normal": [
|
|
-0.015094159122600632,
|
|
0.010783997744843732,
|
|
0.9998279210709315
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.33801352236876925,
|
|
0.0018014269986872185,
|
|
0.00037614722310625246
|
|
],
|
|
[
|
|
0.3617902038879196,
|
|
0.0021665824502638017,
|
|
0.00040239568583548926
|
|
],
|
|
[
|
|
0.3621365184453785,
|
|
-0.023010508083138714,
|
|
0.0009931425653453604
|
|
],
|
|
[
|
|
0.3377191941903647,
|
|
-0.021802223581344322,
|
|
0.000291457842873054
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 24.257202022628704
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6499891168044487,
|
|
-0.09012970416254802,
|
|
0.0004535494611213691
|
|
],
|
|
"position_mm": [
|
|
649.9891168044487,
|
|
-90.12970416254802,
|
|
0.45354946112136907
|
|
],
|
|
"normal": [
|
|
0.008657056369875538,
|
|
0.01082428806586022,
|
|
0.9999039404677211
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.6382247772469817,
|
|
-0.07791751424203203,
|
|
0.00042758145508906665
|
|
],
|
|
[
|
|
0.6623458792754814,
|
|
-0.07850011908933788,
|
|
0.00021625161184791425
|
|
],
|
|
[
|
|
0.6614761969989358,
|
|
-0.1022246904984078,
|
|
0.0004895527074138345
|
|
],
|
|
[
|
|
0.6379096136963962,
|
|
-0.10187649282041437,
|
|
0.0006808120701346609
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.85086565654283
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"link": "Arm2",
|
|
"position_m": [
|
|
0.21935245177843724,
|
|
-0.03073441469280179,
|
|
0.08236772444455165
|
|
],
|
|
"position_mm": [
|
|
219.35245177843723,
|
|
-30.73441469280179,
|
|
82.36772444455165
|
|
],
|
|
"normal": [
|
|
-0.8761222372191149,
|
|
0.004385466135140404,
|
|
0.48206907506803487
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.22505571847335076,
|
|
-0.04311275630908943,
|
|
0.09284097427206911
|
|
],
|
|
[
|
|
0.21336402096160503,
|
|
-0.04222903336742754,
|
|
0.0715932569340531
|
|
],
|
|
[
|
|
0.21357474703422877,
|
|
-0.017999495447824004,
|
|
0.07174695527095411
|
|
],
|
|
[
|
|
0.22541532064456435,
|
|
-0.019596373646866186,
|
|
0.0932897113011303
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 24.16414996824459
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"link": "Arm2",
|
|
"position_m": [
|
|
0.21918931341723602,
|
|
0.0762588185462151,
|
|
0.08608656448136524
|
|
],
|
|
"position_mm": [
|
|
219.189313417236,
|
|
76.25881854621511,
|
|
86.08656448136524
|
|
],
|
|
"normal": [
|
|
-0.8735921493118783,
|
|
0.009198908237716907,
|
|
0.48657182074991473
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.22492629541359502,
|
|
0.06337650918789564,
|
|
0.09695022621654524
|
|
],
|
|
[
|
|
0.21313690615590802,
|
|
0.06501257038049907,
|
|
0.07510144830957695
|
|
],
|
|
[
|
|
0.21332424974758254,
|
|
0.08871477035394135,
|
|
0.0756609023895254
|
|
],
|
|
[
|
|
0.2253698023518585,
|
|
0.08793142426252439,
|
|
0.09663368100981341
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 24.33735127256777
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"link": "Arm1",
|
|
"position_m": [
|
|
0.16003883655414455,
|
|
-0.14217139471553097,
|
|
0.09613157760376077
|
|
],
|
|
"position_mm": [
|
|
160.03883655414455,
|
|
-142.17139471553097,
|
|
96.13157760376077
|
|
],
|
|
"normal": [
|
|
-0.008068440670267987,
|
|
0.003609842725650015,
|
|
0.9999609338872426
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.14810077375881184,
|
|
-0.13021187170034468,
|
|
0.09608991379183575
|
|
],
|
|
[
|
|
0.17210580425010824,
|
|
-0.13030844155191376,
|
|
0.0960890552611677
|
|
],
|
|
[
|
|
0.17207276162865742,
|
|
-0.15422580130677005,
|
|
0.09636846648834309
|
|
],
|
|
[
|
|
0.1478760065790007,
|
|
-0.15393946430309544,
|
|
0.09597887487369657
|
|
]
|
|
],
|
|
"num_cameras": 7,
|
|
"edge_length_mm": 23.963685380287483
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"link": "Ellbow",
|
|
"position_m": [
|
|
0.2500355112959176,
|
|
-0.16804375393083001,
|
|
0.08485114634604102
|
|
],
|
|
"position_mm": [
|
|
250.03551129591762,
|
|
-168.04375393083,
|
|
84.85114634604102
|
|
],
|
|
"normal": [
|
|
-0.0012089138829737725,
|
|
-0.7373804118581232,
|
|
0.6754766219012825
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.2380319094850363,
|
|
-0.15988759708594674,
|
|
0.09374266040398212
|
|
],
|
|
[
|
|
0.2620089385583024,
|
|
-0.15986157172881033,
|
|
0.09379531599093967
|
|
],
|
|
[
|
|
0.26195872904755596,
|
|
-0.17627709805991718,
|
|
0.07589395744926068
|
|
],
|
|
[
|
|
0.2381424680927757,
|
|
-0.17614874884864587,
|
|
0.07597265153998159
|
|
]
|
|
],
|
|
"num_cameras": 7,
|
|
"edge_length_mm": 24.042471258745675
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"link": "Arm1",
|
|
"position_m": [
|
|
0.16003292026093963,
|
|
-0.17734986486899326,
|
|
0.060563819600620815
|
|
],
|
|
"position_mm": [
|
|
160.03292026093962,
|
|
-177.34986486899325,
|
|
60.56381960062082
|
|
],
|
|
"normal": [
|
|
0.0027959540364900877,
|
|
-0.999987107679942,
|
|
-0.004238763372729992
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.14794802817342909,
|
|
-0.17736739422519787,
|
|
0.07265028925961914
|
|
],
|
|
[
|
|
0.1722560147517822,
|
|
-0.17743404822267864,
|
|
0.07268115215714274
|
|
],
|
|
[
|
|
0.17201704489316239,
|
|
-0.1771971982946599,
|
|
0.048389192035303445
|
|
],
|
|
[
|
|
0.1479105932253848,
|
|
-0.17740081873343674,
|
|
0.04853464495041793
|
|
]
|
|
],
|
|
"num_cameras": 5,
|
|
"edge_length_mm": 24.206458646231496
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"link": "Ellbow",
|
|
"position_m": [
|
|
0.2854783842441527,
|
|
-0.14233424736976924,
|
|
0.060787486866112725
|
|
],
|
|
"position_mm": [
|
|
285.4783842441527,
|
|
-142.33424736976923,
|
|
60.78748686611272
|
|
],
|
|
"normal": [
|
|
0.9992917283498354,
|
|
0.020795786816228706,
|
|
0.03136202962649012
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.28601356748982115,
|
|
-0.15488912814739292,
|
|
0.047976013835441686
|
|
],
|
|
[
|
|
0.28549740034575105,
|
|
-0.1553047025662684,
|
|
0.072797036857575
|
|
],
|
|
[
|
|
0.2846944043116335,
|
|
-0.12956768592567747,
|
|
0.07312804068638266
|
|
],
|
|
[
|
|
0.2857081648294051,
|
|
-0.12957547283973808,
|
|
0.049248856085051515
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 24.957426586839173
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"link": "Ellbow",
|
|
"position_m": [
|
|
0.24995696838013953,
|
|
-0.1432463698198036,
|
|
0.0960730537592398
|
|
],
|
|
"position_mm": [
|
|
249.95696838013953,
|
|
-143.2463698198036,
|
|
96.0730537592398
|
|
],
|
|
"normal": [
|
|
-0.005762733897569441,
|
|
-0.035773106085417394,
|
|
0.9993433222766976
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.2621104013034874,
|
|
-0.13124841854055724,
|
|
0.09655750156797363
|
|
],
|
|
[
|
|
0.2620876293571161,
|
|
-0.1551878169942961,
|
|
0.0957307017233037
|
|
],
|
|
[
|
|
0.23783457100456554,
|
|
-0.15528948803903903,
|
|
0.09555694560973339
|
|
],
|
|
[
|
|
0.23779527185538907,
|
|
-0.13125975570532206,
|
|
0.09644706613594847
|
|
]
|
|
],
|
|
"num_cameras": 6,
|
|
"edge_length_mm": 24.142301092546706
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"link": "Ellbow",
|
|
"position_m": [
|
|
0.21246731395503662,
|
|
-0.1433106071976684,
|
|
0.09608927088600658
|
|
],
|
|
"position_mm": [
|
|
212.46731395503662,
|
|
-143.3106071976684,
|
|
96.08927088600657
|
|
],
|
|
"normal": [
|
|
-0.0074803316121238965,
|
|
-0.03358997728887837,
|
|
0.9994077036248546
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.2247209425664045,
|
|
-0.13141545761079038,
|
|
0.09664014681002558
|
|
],
|
|
[
|
|
0.22443897649415218,
|
|
-0.15535471823769842,
|
|
0.09571413299877192
|
|
],
|
|
[
|
|
0.20032968485588162,
|
|
-0.15524202280936325,
|
|
0.09565719510246318
|
|
],
|
|
[
|
|
0.20037965190370818,
|
|
-0.1312302301328215,
|
|
0.09634560863276562
|
|
]
|
|
],
|
|
"num_cameras": 6,
|
|
"edge_length_mm": 24.10848341165901
|
|
}
|
|
]
|
|
} |