2419 lines
53 KiB
JSON
2419 lines
53 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"stage": "corner_marker_poses",
|
|
"created_utc": "2026-06-01T23:03:31Z",
|
|
"summary": {
|
|
"num_cameras": 7,
|
|
"num_markers": 56
|
|
},
|
|
"markers": [
|
|
{
|
|
"marker_id": 41,
|
|
"link": "FingerA",
|
|
"position_m": [
|
|
0.36674555527657127,
|
|
-0.16265739266511772,
|
|
0.16624355545928546
|
|
],
|
|
"position_mm": [
|
|
366.7455552765713,
|
|
-162.65739266511773,
|
|
166.24355545928546
|
|
],
|
|
"normal": [
|
|
-0.4817488772518671,
|
|
-0.7851310443465563,
|
|
-0.38921364630476596
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.35277284919292595,
|
|
-0.15828253565990189,
|
|
0.17494845787755547
|
|
],
|
|
[
|
|
0.37158857151303964,
|
|
-0.17228576720909225,
|
|
0.1794407255062408
|
|
],
|
|
[
|
|
0.38083297516770026,
|
|
-0.16679998637715843,
|
|
0.15739577797113963
|
|
],
|
|
[
|
|
0.3617878252326192,
|
|
-0.15326128141431833,
|
|
0.1531892604822059
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 24.057944652163066
|
|
},
|
|
{
|
|
"marker_id": 42,
|
|
"link": "FingerA",
|
|
"position_m": [
|
|
0.3781632295061921,
|
|
-0.18297723944886413,
|
|
0.12497678344649107
|
|
],
|
|
"position_mm": [
|
|
378.16322950619207,
|
|
-182.97723944886414,
|
|
124.97678344649107
|
|
],
|
|
"normal": [
|
|
0.41667760980587076,
|
|
-0.8863696808964303,
|
|
0.2018131766610567
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.36583082779660003,
|
|
-0.18618423299864936,
|
|
0.13654349977335128
|
|
],
|
|
[
|
|
0.3878095226166686,
|
|
-0.17563132479665522,
|
|
0.137133771318635
|
|
],
|
|
[
|
|
0.39047077125951934,
|
|
-0.17985842268559285,
|
|
0.11345471944686465
|
|
],
|
|
[
|
|
0.3685417963519804,
|
|
-0.1902349773145591,
|
|
0.11277514324711341
|
|
]
|
|
],
|
|
"num_cameras": 5,
|
|
"edge_length_mm": 24.280199140264557
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"link": "FingerB",
|
|
"position_m": [
|
|
0.33139213909067616,
|
|
-0.1493156069666689,
|
|
0.13822331814136557
|
|
],
|
|
"position_mm": [
|
|
331.39213909067615,
|
|
-149.3156069666689,
|
|
138.22331814136558
|
|
],
|
|
"normal": [
|
|
-0.13260715738307804,
|
|
-0.6698397516528078,
|
|
0.7305683054420609
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.3163694646694075,
|
|
-0.1534774819221864,
|
|
0.13173243389044753
|
|
],
|
|
[
|
|
0.3241747030773604,
|
|
-0.13743893752647696,
|
|
0.1477512204370771
|
|
],
|
|
[
|
|
0.34642416561656125,
|
|
-0.14535335389764245,
|
|
0.1446369676012625
|
|
],
|
|
[
|
|
0.33860022299937537,
|
|
-0.1609926545203698,
|
|
0.1287726506366752
|
|
]
|
|
],
|
|
"num_cameras": 7,
|
|
"edge_length_mm": 23.764329102115035
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.5367140142455179,
|
|
0.18528120599584139,
|
|
-0.027300117663538223
|
|
],
|
|
"position_mm": [
|
|
536.7140142455179,
|
|
185.2812059958414,
|
|
-27.300117663538224
|
|
],
|
|
"normal": [
|
|
0.0418691899830071,
|
|
0.0455234458416568,
|
|
0.9980854606740189
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.5245687158907137,
|
|
0.17342453299087215,
|
|
-0.026448860788389227
|
|
],
|
|
[
|
|
0.5250631589479565,
|
|
0.19714322490639344,
|
|
-0.027157623463267933
|
|
],
|
|
[
|
|
0.5491045819351703,
|
|
0.19724724407831387,
|
|
-0.028558366984814714
|
|
],
|
|
[
|
|
0.5481196002082313,
|
|
0.1733098220077861,
|
|
-0.02703561941768101
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.84533595573011
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.34430462858156785,
|
|
-0.2866818935787473,
|
|
-0.02711834244206597
|
|
],
|
|
"position_mm": [
|
|
344.30462858156784,
|
|
-286.6818935787473,
|
|
-27.11834244206597
|
|
],
|
|
"normal": [
|
|
-0.006105667949910484,
|
|
0.0043066123392156985,
|
|
0.9999720865649426
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.3323375143685859,
|
|
-0.2983908871219417,
|
|
-0.027108232399056124
|
|
],
|
|
[
|
|
0.332508696952859,
|
|
-0.2747076162314422,
|
|
-0.02727468849766894
|
|
],
|
|
[
|
|
0.3562721637267961,
|
|
-0.2748494744419778,
|
|
-0.0270638147637758
|
|
],
|
|
[
|
|
0.3561001392780304,
|
|
-0.29877959651962743,
|
|
-0.02702663410776301
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.786503389331784
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.16777429804790178,
|
|
-0.1720236994885003,
|
|
-0.02735836814459868
|
|
],
|
|
"position_mm": [
|
|
167.7742980479018,
|
|
-172.02369948850028,
|
|
-27.358368144598682
|
|
],
|
|
"normal": [
|
|
-0.00860017854082262,
|
|
0.024580511738425126,
|
|
0.9996608601779622
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.15578452285887578,
|
|
-0.18392602536900746,
|
|
-0.026970545139193895
|
|
],
|
|
[
|
|
0.15622462076645288,
|
|
-0.15976592345372048,
|
|
-0.0279562800853424
|
|
],
|
|
[
|
|
0.17982989397007437,
|
|
-0.1601138841646601,
|
|
-0.027350337683235963
|
|
],
|
|
[
|
|
0.17925815459620403,
|
|
-0.18428896496661318,
|
|
-0.02715630967062246
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.864902868256237
|
|
},
|
|
{
|
|
"marker_id": 52,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.09495487025802116,
|
|
0.20828761148513986,
|
|
-0.026834939820475086
|
|
],
|
|
"position_mm": [
|
|
94.95487025802116,
|
|
208.28761148513985,
|
|
-26.834939820475086
|
|
],
|
|
"normal": [
|
|
0.04750320219933325,
|
|
-0.01906625128349926,
|
|
0.9986891026955305
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.0828050888899521,
|
|
0.19735529812153285,
|
|
-0.0269860500972524
|
|
],
|
|
[
|
|
0.08383425286140392,
|
|
0.21875105460131752,
|
|
-0.025554077326611246
|
|
],
|
|
[
|
|
0.10634783553540336,
|
|
0.22013468227222005,
|
|
-0.027660810651943663
|
|
],
|
|
[
|
|
0.10683230374532528,
|
|
0.19690941094548894,
|
|
-0.027138821206093035
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 22.8476400821594
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.48631933301978886,
|
|
0.21214884504885018,
|
|
-0.0272795611112032
|
|
],
|
|
"position_mm": [
|
|
486.31933301978887,
|
|
212.14884504885018,
|
|
-27.2795611112032
|
|
],
|
|
"normal": [
|
|
0.0031823086887158253,
|
|
0.017208427085434356,
|
|
0.9998468597483592
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.4744189162598329,
|
|
0.2002887905610975,
|
|
-0.027157549254185533
|
|
],
|
|
[
|
|
0.47462790846360103,
|
|
0.2239558153153233,
|
|
-0.02732393644890059
|
|
],
|
|
[
|
|
0.49805979065818756,
|
|
0.2239093053874465,
|
|
-0.0276419408855262
|
|
],
|
|
[
|
|
0.49817071669753404,
|
|
0.20044146893153353,
|
|
-0.026994817856200483
|
|
]
|
|
],
|
|
"num_cameras": 6,
|
|
"edge_length_mm": 23.58312151572794
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.3423688486641855,
|
|
-0.33056443645314704,
|
|
-0.02702431611244149
|
|
],
|
|
"position_mm": [
|
|
342.36884866418546,
|
|
-330.56443645314704,
|
|
-27.02431611244149
|
|
],
|
|
"normal": [
|
|
0.1214294713367751,
|
|
0.0205440346681417,
|
|
0.9923874375113914
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.3305340968120524,
|
|
-0.3418954043953484,
|
|
-0.02535070209127086
|
|
],
|
|
[
|
|
0.3303635393582805,
|
|
-0.3190893538217103,
|
|
-0.025783940799786423
|
|
],
|
|
[
|
|
0.3543611185853405,
|
|
-0.3190630185416936,
|
|
-0.028738613179738807
|
|
],
|
|
[
|
|
0.3542166399010688,
|
|
-0.34220996905383577,
|
|
-0.028224008378969868
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.500252960057605
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.28370153381932905,
|
|
-0.26274310755122326,
|
|
-0.027175618322892118
|
|
],
|
|
"position_mm": [
|
|
283.70153381932903,
|
|
-262.74310755122326,
|
|
-27.175618322892117
|
|
],
|
|
"normal": [
|
|
-0.004365052300912837,
|
|
-0.008957189691955027,
|
|
0.999950356303368
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.272121718574687,
|
|
-0.27442661761151166,
|
|
-0.027292789882327802
|
|
],
|
|
[
|
|
0.27166766890168126,
|
|
-0.25078316305517817,
|
|
-0.027157646511340873
|
|
],
|
|
[
|
|
0.29572248384680433,
|
|
-0.25120779752318423,
|
|
-0.02698272945794204
|
|
],
|
|
[
|
|
0.2952942639541436,
|
|
-0.274554852015019,
|
|
-0.02726930743995776
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.558262605505753
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.49862824783075055,
|
|
0.16868807416505077,
|
|
-0.027271772995190163
|
|
],
|
|
"position_mm": [
|
|
498.6282478307505,
|
|
168.68807416505078,
|
|
-27.27177299519016
|
|
],
|
|
"normal": [
|
|
0.045430085458713916,
|
|
0.008619910082566573,
|
|
0.9989303301458929
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.486251680919492,
|
|
0.15690394513268366,
|
|
-0.026737688718483036
|
|
],
|
|
[
|
|
0.4873106663539529,
|
|
0.1803457717145477,
|
|
-0.0267237165794149
|
|
],
|
|
[
|
|
0.5106827180276124,
|
|
0.1805131129265099,
|
|
-0.028055474012791386
|
|
],
|
|
[
|
|
0.5102679260219448,
|
|
0.15698946688646176,
|
|
-0.02757021267007133
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.609857247788018
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.050102496429196494,
|
|
-0.21803616200582504,
|
|
-0.027245861327732462
|
|
],
|
|
"position_mm": [
|
|
50.10249642919649,
|
|
-218.03616200582505,
|
|
-27.245861327732463
|
|
],
|
|
"normal": [
|
|
-0.016467987130076182,
|
|
-0.006560801286364495,
|
|
0.9998428682979964
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.038218211360079,
|
|
-0.22995386559403513,
|
|
-0.0275679781158463
|
|
],
|
|
[
|
|
0.03813268522044167,
|
|
-0.2064159009283268,
|
|
-0.027318637525493076
|
|
],
|
|
[
|
|
0.06200127702478324,
|
|
-0.20627035393045012,
|
|
-0.027021432430234516
|
|
],
|
|
[
|
|
0.06205781211148208,
|
|
-0.2295045275704881,
|
|
-0.027075397239355956
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.62338851459353
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"link": "Board",
|
|
"position_m": [
|
|
-0.022434265334531172,
|
|
0.3362565235041379,
|
|
-0.02749731480240014
|
|
],
|
|
"position_mm": [
|
|
-22.434265334531172,
|
|
336.25652350413793,
|
|
-27.49731480240014
|
|
],
|
|
"normal": [
|
|
0.01317267660194688,
|
|
-0.05177604298275374,
|
|
0.9985718411632628
|
|
],
|
|
"corners_m": [
|
|
[
|
|
-0.03411211660206255,
|
|
0.3250972685003772,
|
|
-0.027527864618114788
|
|
],
|
|
[
|
|
-0.034554145154327774,
|
|
0.3465971751367506,
|
|
-0.02720203617948844
|
|
],
|
|
[
|
|
-0.010915878871977744,
|
|
0.34654776407613214,
|
|
-0.026682061870168115
|
|
],
|
|
[
|
|
-0.010154920709756628,
|
|
0.32678388630329197,
|
|
-0.028577296541829226
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 22.264870502900298
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.40469721455744,
|
|
-0.17499310666404602,
|
|
-0.027373773065408183
|
|
],
|
|
"position_mm": [
|
|
404.69721455744,
|
|
-174.99310666404602,
|
|
-27.373773065408184
|
|
],
|
|
"normal": [
|
|
-0.015614501320482007,
|
|
0.021084704377839047,
|
|
0.9996557520415774
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.3928222779495061,
|
|
-0.18662336489014383,
|
|
-0.027306749992202065
|
|
],
|
|
[
|
|
0.3930859795753796,
|
|
-0.1627700406329867,
|
|
-0.027820257569469105
|
|
],
|
|
[
|
|
0.416399023455998,
|
|
-0.1633399893022441,
|
|
-0.027429480484906506
|
|
],
|
|
[
|
|
0.4164815772488764,
|
|
-0.18723903183080948,
|
|
-0.02693860421505505
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.689497294200848
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.7773386878825052,
|
|
-0.23622558265801616,
|
|
-0.027537719964278225
|
|
],
|
|
"position_mm": [
|
|
777.3386878825052,
|
|
-236.22558265801615,
|
|
-27.537719964278224
|
|
],
|
|
"normal": [
|
|
0.007377450161595556,
|
|
-0.029236645668073102,
|
|
0.9995452925101458
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.7657855211186038,
|
|
-0.2479973522720477,
|
|
-0.028061642377306042
|
|
],
|
|
[
|
|
0.7653282500104888,
|
|
-0.22431965546220162,
|
|
-0.026842091206800874
|
|
],
|
|
[
|
|
0.7891636019190116,
|
|
-0.22457319673746368,
|
|
-0.027545877605619887
|
|
],
|
|
[
|
|
0.7890773784819163,
|
|
-0.2480121261603516,
|
|
-0.027701268667386106
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.57370830815839
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"link": "Board",
|
|
"position_m": [
|
|
-0.021236469177078353,
|
|
-0.18815892627970626,
|
|
-0.027192494371156443
|
|
],
|
|
"position_mm": [
|
|
-21.23646917707835,
|
|
-188.15892627970626,
|
|
-27.192494371156442
|
|
],
|
|
"normal": [
|
|
-0.005795522992567314,
|
|
0.030081745885281674,
|
|
0.9995306400895052
|
|
],
|
|
"corners_m": [
|
|
[
|
|
-0.03330572067408029,
|
|
-0.20019190788983504,
|
|
-0.026938243937158612
|
|
],
|
|
[
|
|
-0.03318652801735336,
|
|
-0.17628033631940757,
|
|
-0.027581457648926028
|
|
],
|
|
[
|
|
-0.009136634384823752,
|
|
-0.17589165976335572,
|
|
-0.027528619097609078
|
|
],
|
|
[
|
|
-0.00931699363205601,
|
|
-0.20027180114622672,
|
|
-0.02672165680093205
|
|
]
|
|
],
|
|
"num_cameras": 5,
|
|
"edge_length_mm": 24.089401871270585
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.20976062702101866,
|
|
-0.3632386678696632,
|
|
-0.027203534095703367
|
|
],
|
|
"position_mm": [
|
|
209.76062702101868,
|
|
-363.2386678696632,
|
|
-27.203534095703368
|
|
],
|
|
"normal": [
|
|
0.002051281738780293,
|
|
0.018532044650449556,
|
|
0.9998261626724427
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.1978474855454412,
|
|
-0.37510433120488523,
|
|
-0.026858307256875134
|
|
],
|
|
[
|
|
0.19814581653158797,
|
|
-0.35154832487185356,
|
|
-0.027499705888723663
|
|
],
|
|
[
|
|
0.22139021932561262,
|
|
-0.35138350264513,
|
|
-0.027343709341798694
|
|
],
|
|
[
|
|
0.22165898668143283,
|
|
-0.3749185127567839,
|
|
-0.027112413895415983
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.540849748121982
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.5737233384727534,
|
|
0.17045635384656982,
|
|
-0.027256794900054854
|
|
],
|
|
"position_mm": [
|
|
573.7233384727533,
|
|
170.4563538465698,
|
|
-27.256794900054853
|
|
],
|
|
"normal": [
|
|
0.021552041795625046,
|
|
-0.0021467266237565896,
|
|
0.9997654230164407
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.5620431002747264,
|
|
0.15852211877144057,
|
|
-0.027289027710540873
|
|
],
|
|
[
|
|
0.562042166767318,
|
|
0.18253046047388197,
|
|
-0.026721922217975272
|
|
],
|
|
[
|
|
0.5854486768407916,
|
|
0.18215938163508238,
|
|
-0.027746644141359963
|
|
],
|
|
[
|
|
0.5853594100081774,
|
|
0.15861345450587436,
|
|
-0.027269585530343313
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.578583154070436
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.007465041915192223,
|
|
-0.28103412523055593,
|
|
-0.027383732967336424
|
|
],
|
|
"position_mm": [
|
|
7.465041915192223,
|
|
-281.03412523055596,
|
|
-27.383732967336424
|
|
],
|
|
"normal": [
|
|
0.01436073573147008,
|
|
0.03716075263971647,
|
|
0.9992061087345797
|
|
],
|
|
"corners_m": [
|
|
[
|
|
-0.004452562801900913,
|
|
-0.2930929964680106,
|
|
-0.02689539507596402
|
|
],
|
|
[
|
|
-0.004478349334093956,
|
|
-0.26970215027604827,
|
|
-0.02750284163751204
|
|
],
|
|
[
|
|
0.019448963662906358,
|
|
-0.26835827831281067,
|
|
-0.028151420886028202
|
|
],
|
|
[
|
|
0.0193421161338574,
|
|
-0.2929830758653543,
|
|
-0.02698527426984143
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.9550681009626
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.44076525318675724,
|
|
0.19414993182832985,
|
|
-0.026975393455606785
|
|
],
|
|
"position_mm": [
|
|
440.76525318675726,
|
|
194.14993182832984,
|
|
-26.975393455606785
|
|
],
|
|
"normal": [
|
|
0.006257574226931969,
|
|
0.016112720065359354,
|
|
0.999850600348317
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.4286132613352499,
|
|
0.18195886897934443,
|
|
-0.026654056624715785
|
|
],
|
|
[
|
|
0.42939954269802255,
|
|
0.20638595103034268,
|
|
-0.027151531516392893
|
|
],
|
|
[
|
|
0.45261587913577084,
|
|
0.20610732975190682,
|
|
-0.027191196575988563
|
|
],
|
|
[
|
|
0.4524323295779858,
|
|
0.18214757755172542,
|
|
-0.026904789105329893
|
|
]
|
|
],
|
|
"num_cameras": 5,
|
|
"edge_length_mm": 23.86153514137755
|
|
},
|
|
{
|
|
"marker_id": 73,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.22181331524236547,
|
|
0.3328778842260294,
|
|
-0.026968069068770244
|
|
],
|
|
"position_mm": [
|
|
221.81331524236546,
|
|
332.8778842260294,
|
|
-26.968069068770244
|
|
],
|
|
"normal": [
|
|
-0.01316146686310937,
|
|
0.04918399079778225,
|
|
0.9987030143336982
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.20973518050100876,
|
|
0.32085092766866335,
|
|
-0.02639301950313038
|
|
],
|
|
[
|
|
0.21046790759877423,
|
|
0.3456483822642917,
|
|
-0.0278911926263659
|
|
],
|
|
[
|
|
0.23365512449511477,
|
|
0.3443627968868978,
|
|
-0.027226114273506213
|
|
],
|
|
[
|
|
0.23339504837456418,
|
|
0.3206494300842645,
|
|
-0.026361949872078492
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.869275738347838
|
|
},
|
|
{
|
|
"marker_id": 74,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.09386335222939934,
|
|
0.1444670882285129,
|
|
-0.027097696012947176
|
|
],
|
|
"position_mm": [
|
|
93.86335222939934,
|
|
144.4670882285129,
|
|
-27.097696012947175
|
|
],
|
|
"normal": [
|
|
0.00029862536115191453,
|
|
0.0260662359191277,
|
|
0.9996601733428726
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.08184959263654433,
|
|
0.13280858943243348,
|
|
-0.027103268834681817
|
|
],
|
|
[
|
|
0.08233942007585868,
|
|
0.1562469531579458,
|
|
-0.027076089927488306
|
|
],
|
|
[
|
|
0.10542468177784901,
|
|
0.15632534369446088,
|
|
-0.027729953277910533
|
|
],
|
|
[
|
|
0.10583971442734534,
|
|
0.1324874666292114,
|
|
-0.026481472011708047
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.60315835250163
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"link": "Board",
|
|
"position_m": [
|
|
-0.025724776940796622,
|
|
0.1944346681292602,
|
|
-0.027192981514718356
|
|
],
|
|
"position_mm": [
|
|
-25.724776940796623,
|
|
194.4346681292602,
|
|
-27.192981514718355
|
|
],
|
|
"normal": [
|
|
-0.005703353381160795,
|
|
0.008988611301935567,
|
|
0.9999433367081718
|
|
],
|
|
"corners_m": [
|
|
[
|
|
-0.037746495798621105,
|
|
0.18256731540831075,
|
|
-0.02703750850572759
|
|
],
|
|
[
|
|
-0.03742446710007079,
|
|
0.20680431741594085,
|
|
-0.027489612221493997
|
|
],
|
|
[
|
|
-0.013840442255995351,
|
|
0.20581289482241924,
|
|
-0.027103754177331293
|
|
],
|
|
[
|
|
-0.013887702608499235,
|
|
0.18255414487036997,
|
|
-0.027141051154320545
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.74230358818704
|
|
},
|
|
{
|
|
"marker_id": 77,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.01818781162087279,
|
|
0.19141898802349303,
|
|
-0.026975998106172405
|
|
],
|
|
"position_mm": [
|
|
18.18781162087279,
|
|
191.41898802349303,
|
|
-26.975998106172405
|
|
],
|
|
"normal": [
|
|
0.025327478885806345,
|
|
0.051931895161785764,
|
|
0.9983294030920828
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.00688486500130486,
|
|
0.17892595442453735,
|
|
-0.02612179059130341
|
|
],
|
|
[
|
|
0.006377538306002794,
|
|
0.20354283132217652,
|
|
-0.027224639788394827
|
|
],
|
|
[
|
|
0.029489827311032918,
|
|
0.20386994523662377,
|
|
-0.027993038964820798
|
|
],
|
|
[
|
|
0.02999901586515058,
|
|
0.1793372211106344,
|
|
-0.026564523080170578
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.868941330971026
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.3125118336626318,
|
|
-0.15874014703559156,
|
|
-0.027416069605395874
|
|
],
|
|
"position_mm": [
|
|
312.5118336626318,
|
|
-158.74014703559155,
|
|
-27.416069605395872
|
|
],
|
|
"normal": [
|
|
0.02547920909872724,
|
|
0.021956035347411643,
|
|
0.9994342111492515
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.300568439577416,
|
|
-0.17052131817281116,
|
|
-0.027224991153612203
|
|
],
|
|
[
|
|
0.3006417537843793,
|
|
-0.1471040109032081,
|
|
-0.027007146242219025
|
|
],
|
|
[
|
|
0.3247911162907935,
|
|
-0.14629929005591535,
|
|
-0.0283443882277524
|
|
],
|
|
[
|
|
0.32404602499793855,
|
|
-0.17103596901043164,
|
|
-0.02708775279799986
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.970396320256583
|
|
},
|
|
{
|
|
"marker_id": 81,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.13205552721108899,
|
|
0.1691190569547601,
|
|
-0.027403036438830047
|
|
],
|
|
"position_mm": [
|
|
132.055527211089,
|
|
169.11905695476008,
|
|
-27.403036438830046
|
|
],
|
|
"normal": [
|
|
0.0073645105495952976,
|
|
-0.03134088410964542,
|
|
0.9994816221259852
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.12024481711468744,
|
|
0.15815491187250796,
|
|
-0.028106809236312303
|
|
],
|
|
[
|
|
0.12002818445477108,
|
|
0.17956623485860784,
|
|
-0.026539547953699845
|
|
],
|
|
[
|
|
0.14384429729875525,
|
|
0.18084058450375282,
|
|
-0.027541095886131205
|
|
],
|
|
[
|
|
0.14410480997614214,
|
|
0.15791449658417178,
|
|
-0.027424692679176833
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.03492922499498
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.21925872177478478,
|
|
0.2974397826068268,
|
|
-0.027658767050154163
|
|
],
|
|
"position_mm": [
|
|
219.2587217747848,
|
|
297.4397826068268,
|
|
-27.658767050154164
|
|
],
|
|
"normal": [
|
|
0.03128052384088644,
|
|
0.013958671849144566,
|
|
0.9994131699694816
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.2074022044855778,
|
|
0.28546163362361776,
|
|
-0.02705225289791113
|
|
],
|
|
[
|
|
0.20792457962037555,
|
|
0.30902502275428845,
|
|
-0.027533722266883155
|
|
],
|
|
[
|
|
0.23115611557753662,
|
|
0.3093234368521773,
|
|
-0.02812866309474959
|
|
],
|
|
[
|
|
0.23055198741564914,
|
|
0.2859490371972237,
|
|
-0.02792042994107279
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.342370132001495
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.044164526418905926,
|
|
0.3392935537316027,
|
|
-0.02738410767678991
|
|
],
|
|
"position_mm": [
|
|
44.16452641890593,
|
|
339.2935537316027,
|
|
-27.38410767678991
|
|
],
|
|
"normal": [
|
|
0.013376236291476428,
|
|
0.019186127192971414,
|
|
0.9997264469973823
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.032294568781612326,
|
|
0.3275761573352139,
|
|
-0.027000359717120337
|
|
],
|
|
[
|
|
0.03237057260881537,
|
|
0.35070701792575126,
|
|
-0.027445402869359068
|
|
],
|
|
[
|
|
0.05586451779251442,
|
|
0.3513631444672408,
|
|
-0.027772229120256023
|
|
],
|
|
[
|
|
0.05612844649268158,
|
|
0.32752789519820485,
|
|
-0.027318439000424216
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.57943064755089
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.40743043255011796,
|
|
0.2584045600176966,
|
|
-0.027261227643675088
|
|
],
|
|
"position_mm": [
|
|
407.430432550118,
|
|
258.4045600176966,
|
|
-27.261227643675088
|
|
],
|
|
"normal": [
|
|
-0.008324818931844726,
|
|
0.02520705942192392,
|
|
0.9996475886756551
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.3954492839892424,
|
|
0.2464200804292688,
|
|
-0.027099385689109953
|
|
],
|
|
[
|
|
0.39586789845083187,
|
|
0.2706584507701692,
|
|
-0.02762512489326994
|
|
],
|
|
[
|
|
0.41918134547145375,
|
|
0.2703566467200129,
|
|
-0.02750625001439855
|
|
],
|
|
[
|
|
0.41922320228894394,
|
|
0.24618306215133565,
|
|
-0.026814149977921906
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.88093142802629
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.5044950713970298,
|
|
-0.31263191770214227,
|
|
-0.02737772825291033
|
|
],
|
|
"position_mm": [
|
|
504.49507139702973,
|
|
-312.6319177021423,
|
|
-27.37772825291033
|
|
],
|
|
"normal": [
|
|
-0.025768584100820727,
|
|
0.022476065567555107,
|
|
0.9994152322983886
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.49290173080578514,
|
|
-0.32428581063772915,
|
|
-0.027542726855408123
|
|
],
|
|
[
|
|
0.4936126379285445,
|
|
-0.30043587815639694,
|
|
-0.027806250236663242
|
|
],
|
|
[
|
|
0.5162696630589861,
|
|
-0.3006657482306571,
|
|
-0.027466246675808572
|
|
],
|
|
[
|
|
0.5151962537948033,
|
|
-0.32514023378378576,
|
|
-0.02669568924376138
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.339953507631087
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.36317601067154803,
|
|
0.29174892694186605,
|
|
-0.026997195142259876
|
|
],
|
|
"position_mm": [
|
|
363.17601067154806,
|
|
291.74892694186605,
|
|
-26.997195142259876
|
|
],
|
|
"normal": [
|
|
-0.0677386340007198,
|
|
0.09351389844992194,
|
|
0.9933109423843142
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.35182066004900897,
|
|
0.2787752140774731,
|
|
-0.026408169378154423
|
|
],
|
|
[
|
|
0.34847608215832226,
|
|
0.3120374461946637,
|
|
-0.030050735517021067
|
|
],
|
|
[
|
|
0.37478505039563087,
|
|
0.30279164925209506,
|
|
-0.027085433889496833
|
|
],
|
|
[
|
|
0.37762225008323,
|
|
0.27339139824323233,
|
|
-0.024444441784367183
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 29.439094642735814
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6451894693407856,
|
|
-0.18495725195863272,
|
|
-0.027165821969410225
|
|
],
|
|
"position_mm": [
|
|
645.1894693407855,
|
|
-184.95725195863272,
|
|
-27.165821969410224
|
|
],
|
|
"normal": [
|
|
0.007020386094767943,
|
|
0.010226298397301882,
|
|
0.9999230655406294
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.6329892222573724,
|
|
-0.19664497765044064,
|
|
-0.02684532958894117
|
|
],
|
|
[
|
|
0.6338689816204908,
|
|
-0.17302906910049398,
|
|
-0.027326854837607058
|
|
],
|
|
[
|
|
0.6570678705493013,
|
|
-0.1732354860097346,
|
|
-0.027250856052118435
|
|
],
|
|
[
|
|
0.6568318029359781,
|
|
-0.19691947507386168,
|
|
-0.02724024739897423
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.592431345731853
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.18599727831140805,
|
|
-0.2741289498317807,
|
|
-0.027196777127659198
|
|
],
|
|
"position_mm": [
|
|
185.99727831140805,
|
|
-274.1289498317807,
|
|
-27.196777127659196
|
|
],
|
|
"normal": [
|
|
-0.0062185128609839315,
|
|
0.01452492782005943,
|
|
0.9998751704936071
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.17423398321276692,
|
|
-0.28592724512797757,
|
|
-0.027209997994108916
|
|
],
|
|
[
|
|
0.17418292426773138,
|
|
-0.26217801147052133,
|
|
-0.027333641186147395
|
|
],
|
|
[
|
|
0.19789249267550216,
|
|
-0.26238233237265074,
|
|
-0.02740410464849143
|
|
],
|
|
[
|
|
0.19767971308963173,
|
|
-0.28602821035597303,
|
|
-0.026839364681889046
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.640654610291104
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.36959339539460667,
|
|
-0.1864787542473658,
|
|
-0.027241504044152032
|
|
],
|
|
"position_mm": [
|
|
369.59339539460666,
|
|
-186.4787542473658,
|
|
-27.241504044152034
|
|
],
|
|
"normal": [
|
|
-0.01879867657987599,
|
|
0.006388862500350976,
|
|
0.9998028766685945
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.35777958603022514,
|
|
-0.19798388443175718,
|
|
-0.027229052829847784
|
|
],
|
|
[
|
|
0.3580916914444719,
|
|
-0.17410038998144176,
|
|
-0.027694880199251076
|
|
],
|
|
[
|
|
0.3816156470446583,
|
|
-0.1752280621448148,
|
|
-0.02692594491417082
|
|
],
|
|
[
|
|
0.3808866570590713,
|
|
-0.19860268043144944,
|
|
-0.027116138233338458
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.48899530609081
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.30424871338717724,
|
|
-0.3597577173032671,
|
|
-0.027060740250541324
|
|
],
|
|
"position_mm": [
|
|
304.24871338717725,
|
|
-359.7577173032671,
|
|
-27.060740250541322
|
|
],
|
|
"normal": [
|
|
0.00931996011199235,
|
|
0.0057753154199121646,
|
|
0.9999398902310636
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.29279023294661877,
|
|
-0.3717307986571761,
|
|
-0.026853333837995905
|
|
],
|
|
[
|
|
0.2922505165244174,
|
|
-0.34797289980248813,
|
|
-0.027047587291988997
|
|
],
|
|
[
|
|
0.31602591354308146,
|
|
-0.34794532712689047,
|
|
-0.027207689621247887
|
|
],
|
|
[
|
|
0.3159281905345915,
|
|
-0.37138184362651366,
|
|
-0.027134350250932505
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.5299761424184
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6498289894327149,
|
|
-0.22282082310761173,
|
|
-0.02758741149920566
|
|
],
|
|
"position_mm": [
|
|
649.8289894327149,
|
|
-222.82082310761172,
|
|
-27.587411499205658
|
|
],
|
|
"normal": [
|
|
0.020140582647456693,
|
|
0.005917285449258958,
|
|
0.9997796470540561
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.6377860326002335,
|
|
-0.23447918660912223,
|
|
-0.027190462181372013
|
|
],
|
|
[
|
|
0.6381221006094507,
|
|
-0.2108174457940094,
|
|
-0.027508665634520667
|
|
],
|
|
[
|
|
0.6617772056965026,
|
|
-0.2112674545342754,
|
|
-0.027809656467216164
|
|
],
|
|
[
|
|
0.661630618824673,
|
|
-0.2347192054930398,
|
|
-0.027840861713713787
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.65861462407648
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.10580627789458652,
|
|
-0.187593569674133,
|
|
-0.027369116702234523
|
|
],
|
|
"position_mm": [
|
|
105.80627789458651,
|
|
-187.593569674133,
|
|
-27.36911670223452
|
|
],
|
|
"normal": [
|
|
0.01623953746736142,
|
|
0.0010737644218263844,
|
|
0.9998675534553627
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.09416908775280804,
|
|
-0.1996615358248423,
|
|
-0.026950511301296203
|
|
],
|
|
[
|
|
0.0939153371379429,
|
|
-0.17578569668345267,
|
|
-0.027405921752895874
|
|
],
|
|
[
|
|
0.11742070328683892,
|
|
-0.17579117735101463,
|
|
-0.027348237762727108
|
|
],
|
|
[
|
|
0.11771998340075626,
|
|
-0.1991358688372224,
|
|
-0.027771795992018913
|
|
]
|
|
],
|
|
"num_cameras": 5,
|
|
"edge_length_mm": 23.5771232866594
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.5247055403781419,
|
|
-0.26646732624806174,
|
|
-0.027025970651830433
|
|
],
|
|
"position_mm": [
|
|
524.7055403781419,
|
|
-266.46732624806174,
|
|
-27.025970651830434
|
|
],
|
|
"normal": [
|
|
0.0003404969468522717,
|
|
0.003222701361979302,
|
|
0.9999947491150945
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.5125116701143333,
|
|
-0.27788284891863146,
|
|
-0.026870081647525506
|
|
],
|
|
[
|
|
0.5134824103310189,
|
|
-0.2541976478509369,
|
|
-0.0271767879634267
|
|
],
|
|
[
|
|
0.5368657709315774,
|
|
-0.2555176013098805,
|
|
-0.026945579272379647
|
|
],
|
|
[
|
|
0.5359623101356378,
|
|
-0.27827120691279816,
|
|
-0.027111433723989886
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.339008230613498
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"link": "Arm2",
|
|
"position_m": [
|
|
0.40630630992418704,
|
|
-0.06882226147280804,
|
|
0.22077646847279273
|
|
],
|
|
"position_mm": [
|
|
406.306309924187,
|
|
-68.82226147280804,
|
|
220.77646847279271
|
|
],
|
|
"normal": [
|
|
0.8708444933726931,
|
|
-0.2799025481032409,
|
|
0.4040846841044221
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.40026845314772513,
|
|
-0.06476314297931449,
|
|
0.2366331041276648
|
|
],
|
|
[
|
|
0.412277796381158,
|
|
-0.0528013492200063,
|
|
0.21897186223567247
|
|
],
|
|
[
|
|
0.4124177672195761,
|
|
-0.07280771753454415,
|
|
0.2048775555285661
|
|
],
|
|
[
|
|
0.400261222948289,
|
|
-0.08491683615736724,
|
|
0.22262335199926753
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 24.545332133330085
|
|
},
|
|
{
|
|
"marker_id": 115,
|
|
"link": "Arm2",
|
|
"position_m": [
|
|
0.34592493986574524,
|
|
-0.06532064945165372,
|
|
0.21578955102798045
|
|
],
|
|
"position_mm": [
|
|
345.9249398657452,
|
|
-65.32064945165372,
|
|
215.78955102798045
|
|
],
|
|
"normal": [
|
|
-0.9658871436849789,
|
|
-0.13719820983575629,
|
|
0.21963305052276813
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.3429579110369733,
|
|
-0.0487650433831,
|
|
0.2128950977934354
|
|
],
|
|
[
|
|
0.3490976440663119,
|
|
-0.06187853654406695,
|
|
0.23208063653295685
|
|
],
|
|
[
|
|
0.3489352662295287,
|
|
-0.08177889498170814,
|
|
0.21855671279145736
|
|
],
|
|
[
|
|
0.3427089381301671,
|
|
-0.0688601228977398,
|
|
0.19962575699407217
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.982344105795445
|
|
},
|
|
{
|
|
"marker_id": 122,
|
|
"link": "Arm2",
|
|
"position_m": [
|
|
0.3623473420542825,
|
|
-0.019428832853222874,
|
|
0.2726789539922468
|
|
],
|
|
"position_mm": [
|
|
362.3473420542825,
|
|
-19.428832853222875,
|
|
272.67895399224676
|
|
],
|
|
"normal": [
|
|
-0.5071901292078439,
|
|
-0.48561628714160443,
|
|
0.7119936758826818
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.3518822884545108,
|
|
-0.006116415186118123,
|
|
0.2743643625400926
|
|
],
|
|
[
|
|
0.37270349193278013,
|
|
-0.012814256774930354,
|
|
0.2845073632688356
|
|
],
|
|
[
|
|
0.3728373580860724,
|
|
-0.032831843349565,
|
|
0.2710698975299392
|
|
],
|
|
[
|
|
0.3519662297437667,
|
|
-0.025952816102278023,
|
|
0.2607741926301197
|
|
]
|
|
],
|
|
"num_cameras": 6,
|
|
"edge_length_mm": 24.133138134580488
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"link": "Arm2",
|
|
"position_m": [
|
|
0.36224890056915443,
|
|
-0.10823013839784999,
|
|
0.21291465283403327
|
|
],
|
|
"position_mm": [
|
|
362.24890056915444,
|
|
-108.23013839785,
|
|
212.91465283403326
|
|
],
|
|
"normal": [
|
|
-0.5073365288716347,
|
|
-0.480007556412237,
|
|
0.7156831647172051
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.3518536583139545,
|
|
-0.09480406091874065,
|
|
0.2145152533947083
|
|
],
|
|
[
|
|
0.3726998690788189,
|
|
-0.10157847635430636,
|
|
0.2248192711950267
|
|
],
|
|
[
|
|
0.3726143093776649,
|
|
-0.12172615258122767,
|
|
0.21117575491185428
|
|
],
|
|
[
|
|
0.35182776550617945,
|
|
-0.11481186373712532,
|
|
0.20114833183454384
|
|
]
|
|
],
|
|
"num_cameras": 6,
|
|
"edge_length_mm": 24.176898282629573
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.7500488181616795,
|
|
-0.08999903426080433,
|
|
0.0004824380717098759
|
|
],
|
|
"position_mm": [
|
|
750.0488181616795,
|
|
-89.99903426080432,
|
|
0.4824380717098759
|
|
],
|
|
"normal": [
|
|
0.029387415110660082,
|
|
-0.0065120798940788704,
|
|
0.999546883667078
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.7381805669474024,
|
|
-0.07799792847066071,
|
|
0.0009690485688237577
|
|
],
|
|
[
|
|
0.7621926743270447,
|
|
-0.0782853478827109,
|
|
0.0001424465482645486
|
|
],
|
|
[
|
|
0.7618104640490244,
|
|
-0.10204300103819071,
|
|
0.00011798541297906916
|
|
],
|
|
[
|
|
0.738011567323246,
|
|
-0.101669859651655,
|
|
0.0007002717567721284
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.81794834114432
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6500504280361323,
|
|
-0.009775930337362428,
|
|
0.00018518262617703589
|
|
],
|
|
"position_mm": [
|
|
650.0504280361323,
|
|
-9.775930337362428,
|
|
0.18518262617703588
|
|
],
|
|
"normal": [
|
|
0.019771605777715008,
|
|
-0.004337407988288965,
|
|
0.9997951142593735
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.6383196596459062,
|
|
0.0022577729106259907,
|
|
0.0003034680259094117
|
|
],
|
|
[
|
|
0.6619157157245578,
|
|
0.0018315285177964568,
|
|
0.00017179096074565963
|
|
],
|
|
[
|
|
0.6620018874600597,
|
|
-0.02145517565782861,
|
|
-0.00026957313094282516
|
|
],
|
|
[
|
|
0.6379644493140058,
|
|
-0.021737847120043553,
|
|
0.0005350446489958974
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.73581183511913
|
|
},
|
|
{
|
|
"marker_id": 207,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.7506950480095984,
|
|
-0.009530624339672018,
|
|
-0.00032636849044468514
|
|
],
|
|
"position_mm": [
|
|
750.6950480095984,
|
|
-9.530624339672018,
|
|
-0.32636849044468513
|
|
],
|
|
"normal": [
|
|
0.017499263874797954,
|
|
-0.0630261231619857,
|
|
0.9978584486604353
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.7383035692561091,
|
|
0.0016280884617998858,
|
|
0.000598923105827072
|
|
],
|
|
[
|
|
0.7621399725654958,
|
|
0.0012664527805046255,
|
|
0.00015163431028878264
|
|
],
|
|
[
|
|
0.7630780693428636,
|
|
-0.020473730701331145,
|
|
-0.0012314612961848135
|
|
],
|
|
[
|
|
0.7392585808739255,
|
|
-0.020543307899661436,
|
|
-0.0008245700817097817
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 22.927073602275662
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.35000843664116293,
|
|
-0.0900656706792747,
|
|
0.00043362991794431197
|
|
],
|
|
"position_mm": [
|
|
350.0084366411629,
|
|
-90.0656706792747,
|
|
0.433629917944312
|
|
],
|
|
"normal": [
|
|
-0.0004525768805750048,
|
|
-0.0036607668725502293,
|
|
0.9999931969568954
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.33797467713726487,
|
|
-0.07808025995763938,
|
|
0.0004986645166780866
|
|
],
|
|
[
|
|
0.362227102670024,
|
|
-0.07873295782943088,
|
|
0.0004533649450808551
|
|
],
|
|
[
|
|
0.3621042219886052,
|
|
-0.10175854978083292,
|
|
0.0004234485975899704
|
|
],
|
|
[
|
|
0.3377277447687577,
|
|
-0.10169091514919562,
|
|
0.00035904161242833574
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.81905095100944
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.020061071584260893,
|
|
-0.01999022848778468,
|
|
0.00021322691015420548
|
|
],
|
|
"position_mm": [
|
|
20.061071584260894,
|
|
-19.99022848778468,
|
|
0.21322691015420547
|
|
],
|
|
"normal": [
|
|
-0.0068277009941606764,
|
|
0.016207701186503335,
|
|
0.9998453344999833
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.007833749153664277,
|
|
-0.007970228270364206,
|
|
-0.00013335257151992713
|
|
],
|
|
[
|
|
0.032121148898359896,
|
|
-0.008316652303286414,
|
|
0.00017539305147094324
|
|
],
|
|
[
|
|
0.03219883388352462,
|
|
-0.0318729957618391,
|
|
0.0004191832167292124
|
|
],
|
|
[
|
|
0.008090554401494783,
|
|
-0.031801037615649,
|
|
0.00039168394393659353
|
|
]
|
|
],
|
|
"num_cameras": 6,
|
|
"edge_length_mm": 23.948985919185393
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.2498341830814536,
|
|
-0.009780106998136398,
|
|
0.00026057712762355865
|
|
],
|
|
"position_mm": [
|
|
249.8341830814536,
|
|
-9.780106998136398,
|
|
0.26057712762355867
|
|
],
|
|
"normal": [
|
|
0.011995123488599494,
|
|
-0.008919921861517799,
|
|
0.9998882697614158
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.2376961801990475,
|
|
0.001611060630832629,
|
|
0.00035085845381845564
|
|
],
|
|
[
|
|
0.26184894574395456,
|
|
0.002207954704553498,
|
|
0.00038099829456494846
|
|
],
|
|
[
|
|
0.2618777979529714,
|
|
-0.021122027386098287,
|
|
-0.00014388101199303759
|
|
],
|
|
[
|
|
0.23791380842984097,
|
|
-0.021817415941833434,
|
|
0.00045433277410386814
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.726829333667624
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.3498137916742622,
|
|
-0.010074601852632533,
|
|
0.00042832910749444973
|
|
],
|
|
"position_mm": [
|
|
349.8137916742622,
|
|
-10.074601852632533,
|
|
0.42832910749444975
|
|
],
|
|
"normal": [
|
|
-0.025447948232536682,
|
|
0.019408048828833846,
|
|
0.9994877335772621
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.33795408929688,
|
|
0.0022562766355446453,
|
|
-1.744046524918281e-05
|
|
],
|
|
[
|
|
0.3618209467500997,
|
|
0.001782946436679789,
|
|
0.0004124162944466083
|
|
],
|
|
[
|
|
0.36173144386043304,
|
|
-0.022956451110228066,
|
|
0.0010727661655061068
|
|
],
|
|
[
|
|
0.33774868678963593,
|
|
-0.021381179372526506,
|
|
0.0002455744352742666
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 24.078067400948886
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.24998935093005753,
|
|
-0.08996850485168602,
|
|
0.0004026891889291448
|
|
],
|
|
"position_mm": [
|
|
249.98935093005753,
|
|
-89.96850485168602,
|
|
0.4026891889291448
|
|
],
|
|
"normal": [
|
|
-0.014994110360980693,
|
|
-4.414465647584187e-05,
|
|
0.9998875810338541
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.23817647513368545,
|
|
-0.07812683125666868,
|
|
0.00019799945974662326
|
|
],
|
|
[
|
|
0.2619232599046498,
|
|
-0.07840587516851781,
|
|
0.0006101081944243641
|
|
],
|
|
[
|
|
0.26193548056865595,
|
|
-0.10186200926133482,
|
|
0.0005536652887197109
|
|
],
|
|
[
|
|
0.2379221881132389,
|
|
-0.10147930372022278,
|
|
0.00024898381282588097
|
|
]
|
|
],
|
|
"num_cameras": 6,
|
|
"edge_length_mm": 23.64509795937743
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6501457066873148,
|
|
-0.08968390480270984,
|
|
0.00012714361493120245
|
|
],
|
|
"position_mm": [
|
|
650.1457066873147,
|
|
-89.68390480270983,
|
|
0.12714361493120244
|
|
],
|
|
"normal": [
|
|
-0.0011924258372548145,
|
|
0.008759691804445469,
|
|
0.9999609221965196
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.6386699031429366,
|
|
-0.07745050003365475,
|
|
1.2769578021034097e-05
|
|
],
|
|
[
|
|
0.661958307248022,
|
|
-0.07794500392145949,
|
|
3.182485803181617e-05
|
|
],
|
|
[
|
|
0.6618720165786501,
|
|
-0.10174194691136089,
|
|
0.00025319152445802605
|
|
],
|
|
[
|
|
0.6380825997796502,
|
|
-0.10159816834436418,
|
|
0.00021078849921393343
|
|
]
|
|
],
|
|
"num_cameras": 4,
|
|
"edge_length_mm": 23.759325108744843
|
|
},
|
|
{
|
|
"marker_id": 231,
|
|
"link": "Ellbow",
|
|
"position_m": [
|
|
0.38001020278745967,
|
|
0.09722952747135516,
|
|
0.3445235548329384
|
|
],
|
|
"position_mm": [
|
|
380.01020278745966,
|
|
97.22952747135515,
|
|
344.5235548329384
|
|
],
|
|
"normal": [
|
|
0.017698463845387077,
|
|
0.20962544334446942,
|
|
0.9776215719183718
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.36796300620200606,
|
|
0.10899586285645747,
|
|
0.34259579972496484
|
|
],
|
|
[
|
|
0.39219103674772293,
|
|
0.10919939156749008,
|
|
0.34136708093756235
|
|
],
|
|
[
|
|
0.39207284417682936,
|
|
0.08536813985121847,
|
|
0.3472177538731796
|
|
],
|
|
[
|
|
0.3678139240232802,
|
|
0.08535471561025466,
|
|
0.3469135847960468
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 24.273183967942344
|
|
},
|
|
{
|
|
"marker_id": 242,
|
|
"link": "Arm1",
|
|
"position_m": [
|
|
0.28989599331144217,
|
|
0.055182993714532405,
|
|
0.3075842186018254
|
|
],
|
|
"position_mm": [
|
|
289.89599331144217,
|
|
55.18299371453241,
|
|
307.5842186018254
|
|
],
|
|
"normal": [
|
|
-0.0024630189247638943,
|
|
-0.9976732652126012,
|
|
-0.06813214672827263
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.30176237926345756,
|
|
0.054433404684343836,
|
|
0.31978988014334814
|
|
],
|
|
[
|
|
0.30166203958321874,
|
|
0.05584876856459569,
|
|
0.2957163835532572
|
|
],
|
|
[
|
|
0.2782774607476613,
|
|
0.056157454968370116,
|
|
0.2954333918334195
|
|
],
|
|
[
|
|
0.277882093651431,
|
|
0.05429234664081999,
|
|
0.31939721887727657
|
|
]
|
|
],
|
|
"num_cameras": 2,
|
|
"edge_length_mm": 23.856771169531626
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"link": "Arm1",
|
|
"position_m": [
|
|
0.2900314054005662,
|
|
0.08802697129155046,
|
|
0.34515008715678197
|
|
],
|
|
"position_mm": [
|
|
290.0314054005662,
|
|
88.02697129155047,
|
|
345.150087156782
|
|
],
|
|
"normal": [
|
|
0.010428877056357993,
|
|
-0.07409122405330906,
|
|
0.9971969359367415
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.2783977511990642,
|
|
0.10013189741284771,
|
|
0.3462315841572237
|
|
],
|
|
[
|
|
0.30179991249502924,
|
|
0.09999708294771419,
|
|
0.3458557926458454
|
|
],
|
|
[
|
|
0.3021823189073585,
|
|
0.07594132346726304,
|
|
0.3441830884064279
|
|
],
|
|
[
|
|
0.27774563900081284,
|
|
0.0760375813383769,
|
|
0.34432988341763104
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 24.03444925578171
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"link": "Ellbow",
|
|
"position_m": [
|
|
0.3798411448995881,
|
|
0.07062939933613702,
|
|
0.3392663390404776
|
|
],
|
|
"position_mm": [
|
|
379.8411448995881,
|
|
70.62939933613701,
|
|
339.2663390404776
|
|
],
|
|
"normal": [
|
|
-0.004423155255254274,
|
|
-0.5603210873421632,
|
|
0.8282636746696572
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.36785995955054074,
|
|
0.08081370170318565,
|
|
0.34596341487689614
|
|
],
|
|
[
|
|
0.39203752929203506,
|
|
0.08033921586155247,
|
|
0.3460318166253764
|
|
],
|
|
[
|
|
0.39151642233128453,
|
|
0.0607966204987371,
|
|
0.33254174155240196
|
|
],
|
|
[
|
|
0.3679506684244921,
|
|
0.06056805928107283,
|
|
0.33252838310723587
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 23.949853376539064
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"link": "Ellbow",
|
|
"position_m": [
|
|
0.34246428906175,
|
|
0.07065405416428358,
|
|
0.33923840144381967
|
|
],
|
|
"position_mm": [
|
|
342.46428906175004,
|
|
70.65405416428358,
|
|
339.23840144381967
|
|
],
|
|
"normal": [
|
|
-0.01082286440607888,
|
|
-0.5530405537469807,
|
|
0.833084036287625
|
|
],
|
|
"corners_m": [
|
|
[
|
|
0.3305711268226556,
|
|
0.0806854031371756,
|
|
0.3456365835323223
|
|
],
|
|
[
|
|
0.35464568269783814,
|
|
0.08058321281223199,
|
|
0.34609341438285485
|
|
],
|
|
[
|
|
0.35446498550796096,
|
|
0.06059846046186237,
|
|
0.33261454909807053
|
|
],
|
|
[
|
|
0.33017536121854546,
|
|
0.060749140245864336,
|
|
0.332609058762031
|
|
]
|
|
],
|
|
"num_cameras": 3,
|
|
"edge_length_mm": 24.073478143413965
|
|
}
|
|
]
|
|
} |