562 lines
10 KiB
JSON
562 lines
10 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-02T22:35:24Z",
|
|
"summary": {
|
|
"num_cameras": 3,
|
|
"num_markers": 26,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.29933086093117556,
|
|
-0.799418281839035,
|
|
0.8013386735184777
|
|
],
|
|
"position_mm": [
|
|
-299.33086093117555,
|
|
-799.418281839035,
|
|
801.3386735184777
|
|
],
|
|
"direction": [
|
|
0.47817692160606384,
|
|
0.6576254963874817,
|
|
-0.5821301937103271
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "b",
|
|
"position_m": [
|
|
0.3032080331514599,
|
|
-0.8954064004634189,
|
|
1.2012942891546714
|
|
],
|
|
"position_mm": [
|
|
303.2080331514599,
|
|
-895.4064004634189,
|
|
1201.2942891546713
|
|
],
|
|
"direction": [
|
|
0.005782749503850937,
|
|
0.6244387030601501,
|
|
-0.7810524106025696
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "f",
|
|
"position_m": [
|
|
0.48447032537390755,
|
|
-0.3056860451708503,
|
|
1.4030927838623561
|
|
],
|
|
"position_mm": [
|
|
484.47032537390754,
|
|
-305.6860451708503,
|
|
1403.092783862356
|
|
],
|
|
"direction": [
|
|
-0.2268645018339157,
|
|
0.08511359244585037,
|
|
-0.9702000617980957
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.3437251241398752,
|
|
-0.2880518570653535,
|
|
-0.027336175680837974
|
|
],
|
|
"position_mm": [
|
|
343.7251241398752,
|
|
-288.05185706535354,
|
|
-27.336175680837975
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16785854357163119,
|
|
-0.17315579742762638,
|
|
-0.027341000491546467
|
|
],
|
|
"position_mm": [
|
|
167.85854357163117,
|
|
-173.15579742762637,
|
|
-27.341000491546467
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.4887969373394409,
|
|
0.2151519019436198,
|
|
-0.027344778657349317
|
|
],
|
|
"position_mm": [
|
|
488.7969373394409,
|
|
215.1519019436198,
|
|
-27.344778657349316
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.3399007685346788,
|
|
-0.32741013108724015,
|
|
-0.02754239461514119
|
|
],
|
|
"position_mm": [
|
|
339.90076853467883,
|
|
-327.41013108724013,
|
|
-27.542394615141188
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.284542628458916,
|
|
-0.2609142429326301,
|
|
-0.027523444076098025
|
|
],
|
|
"position_mm": [
|
|
284.542628458916,
|
|
-260.9142429326301,
|
|
-27.523444076098023
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4016442754970195,
|
|
-0.17304360384293327,
|
|
-0.02782735644960473
|
|
],
|
|
"position_mm": [
|
|
401.64427549701946,
|
|
-173.04360384293327,
|
|
-27.82735644960473
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.019583400771359276,
|
|
-0.1888305609196817,
|
|
-0.02823846532607405
|
|
],
|
|
"position_mm": [
|
|
-19.583400771359276,
|
|
-188.8305609196817,
|
|
-28.23846532607405
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005437878298835949,
|
|
-0.27719563632950794,
|
|
-0.028747015326655703
|
|
],
|
|
"position_mm": [
|
|
5.437878298835949,
|
|
-277.1956363295079,
|
|
-28.747015326655703
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.4418532539715914,
|
|
0.19413790567464606,
|
|
-0.027882661763834013
|
|
],
|
|
"position_mm": [
|
|
441.8532539715914,
|
|
194.13790567464605,
|
|
-27.88266176383401
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"position_m": [
|
|
-0.027390253334127496,
|
|
0.19253937360267048,
|
|
-0.025965078296917538
|
|
],
|
|
"position_mm": [
|
|
-27.390253334127497,
|
|
192.53937360267048,
|
|
-25.96507829691754
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5063530924316049,
|
|
-0.3135538253142812,
|
|
-0.02766300592122651
|
|
],
|
|
"position_mm": [
|
|
506.35309243160486,
|
|
-313.5538253142812,
|
|
-27.66300592122651
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18662820880639008,
|
|
-0.2766962770611542,
|
|
-0.027457045100409562
|
|
],
|
|
"position_mm": [
|
|
186.6282088063901,
|
|
-276.6962770611542,
|
|
-27.457045100409562
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.30660433344953525,
|
|
-0.35825402004545726,
|
|
-0.027246402971970632
|
|
],
|
|
"position_mm": [
|
|
306.60433344953526,
|
|
-358.25402004545725,
|
|
-27.24640297197063
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6506496658425812,
|
|
-0.22406775861996026,
|
|
-0.027142007301685093
|
|
],
|
|
"position_mm": [
|
|
650.6496658425813,
|
|
-224.06775861996024,
|
|
-27.142007301685094
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10456229275120435,
|
|
-0.19034887967147093,
|
|
-0.027147622219092876
|
|
],
|
|
"position_mm": [
|
|
104.56229275120435,
|
|
-190.34887967147094,
|
|
-27.147622219092874
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.3088928580879901,
|
|
-0.15643470938822562,
|
|
0.1584966868546083
|
|
],
|
|
"position_mm": [
|
|
308.89285808799013,
|
|
-156.43470938822563,
|
|
158.4966868546083
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"position_m": [
|
|
0.7523091316145816,
|
|
-0.0908295201086147,
|
|
0.000834633856532585
|
|
],
|
|
"position_mm": [
|
|
752.3091316145816,
|
|
-90.8295201086147,
|
|
0.8346338565325849
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6500135896057839,
|
|
-0.010136006087639692,
|
|
0.00037332949430560306
|
|
],
|
|
"position_mm": [
|
|
650.013589605784,
|
|
-10.136006087639691,
|
|
0.3733294943056031
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.021586136197409667,
|
|
-0.020230171447986223,
|
|
0.0011640471470370068
|
|
],
|
|
"position_mm": [
|
|
21.58613619740967,
|
|
-20.230171447986223,
|
|
1.1640471470370068
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.25300004414982186,
|
|
-0.009074606313736522,
|
|
0.00016276608304794952
|
|
],
|
|
"position_mm": [
|
|
253.00004414982186,
|
|
-9.074606313736522,
|
|
0.1627660830479495
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.34782586912632224,
|
|
-0.011675676699665745,
|
|
0.0011163084924605883
|
|
],
|
|
"position_mm": [
|
|
347.82586912632223,
|
|
-11.675676699665745,
|
|
1.1163084924605882
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.25041920016634434,
|
|
-0.08847728419421877,
|
|
0.0002108696475885868
|
|
],
|
|
"position_mm": [
|
|
250.41920016634432,
|
|
-88.47728419421877,
|
|
0.21086964758858678
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 231,
|
|
"position_m": [
|
|
0.31814418950007245,
|
|
-0.018667115816921015,
|
|
0.31569076123152473
|
|
],
|
|
"position_mm": [
|
|
318.14418950007246,
|
|
-18.667115816921015,
|
|
315.69076123152473
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.22799483997378076,
|
|
-0.03999951767550287,
|
|
0.30914420610618387
|
|
],
|
|
"position_mm": [
|
|
227.99483997378076,
|
|
-39.999517675502865,
|
|
309.14420610618384
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"position_m": [
|
|
0.31782474092135893,
|
|
-0.048088089880697654,
|
|
0.3003235767699683
|
|
],
|
|
"position_mm": [
|
|
317.8247409213589,
|
|
-48.08808988069765,
|
|
300.32357676996827
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"position_m": [
|
|
0.2796467080466959,
|
|
-0.044322090402926444,
|
|
0.3050079005902346
|
|
],
|
|
"position_mm": [
|
|
279.6467080466959,
|
|
-44.32209040292644,
|
|
305.00790059023456
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
}
|
|
]
|
|
} |