447 lines
8.4 KiB
JSON
447 lines
8.4 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-02T22:34:35Z",
|
|
"summary": {
|
|
"num_cameras": 3,
|
|
"num_markers": 20,
|
|
"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": "c",
|
|
"position_m": [
|
|
0.30460041510025276,
|
|
-0.9022090407414753,
|
|
0.3986456232339163
|
|
],
|
|
"position_mm": [
|
|
304.60041510025275,
|
|
-902.2090407414753,
|
|
398.6456232339163
|
|
],
|
|
"direction": [
|
|
-0.10995042324066162,
|
|
0.9492284059524536,
|
|
-0.2947479486465454
|
|
]
|
|
},
|
|
{
|
|
"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": 40,
|
|
"position_m": [
|
|
0.3062707269039945,
|
|
-0.19935053182505405,
|
|
0.023079942213461838
|
|
],
|
|
"position_mm": [
|
|
306.2707269039945,
|
|
-199.35053182505405,
|
|
23.079942213461837
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
-0.4224220616915755,
|
|
0.0,
|
|
-0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.34525853790174615,
|
|
-0.2847937859378608,
|
|
-0.030951722535377486
|
|
],
|
|
"position_mm": [
|
|
345.25853790174614,
|
|
-284.79378593786083,
|
|
-30.951722535377485
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16728164831981052,
|
|
-0.17412898201942467,
|
|
-0.02701832100103687
|
|
],
|
|
"position_mm": [
|
|
167.28164831981053,
|
|
-174.12898201942468,
|
|
-27.01832100103687
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.3401576655728308,
|
|
-0.3283934504440886,
|
|
-0.026794058647620727
|
|
],
|
|
"position_mm": [
|
|
340.1576655728308,
|
|
-328.39345044408856,
|
|
-26.794058647620727
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2848839025770083,
|
|
-0.2606880355788522,
|
|
-0.027892292626314232
|
|
],
|
|
"position_mm": [
|
|
284.8839025770083,
|
|
-260.6880355788522,
|
|
-27.892292626314234
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.049113302495264105,
|
|
-0.2191106437837877,
|
|
-0.025268080253255065
|
|
],
|
|
"position_mm": [
|
|
49.11330249526411,
|
|
-219.1106437837877,
|
|
-25.268080253255064
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40241347303770497,
|
|
-0.17320426077453815,
|
|
-0.027917309758311422
|
|
],
|
|
"position_mm": [
|
|
402.413473037705,
|
|
-173.20426077453814,
|
|
-27.917309758311422
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.021174802072254972,
|
|
-0.18694794825910147,
|
|
-0.028461823336060423
|
|
],
|
|
"position_mm": [
|
|
-21.174802072254973,
|
|
-186.94794825910145,
|
|
-28.461823336060423
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"position_m": [
|
|
-0.027514694665459444,
|
|
0.19263838753626136,
|
|
-0.025876684850787535
|
|
],
|
|
"position_mm": [
|
|
-27.514694665459444,
|
|
192.63838753626138,
|
|
-25.876684850787534
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18672227090310972,
|
|
-0.2758907107917113,
|
|
-0.02814736291905968
|
|
],
|
|
"position_mm": [
|
|
186.72227090310972,
|
|
-275.8907107917113,
|
|
-28.14736291905968
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.3043652749805057,
|
|
-0.35996337470755757,
|
|
-0.02438335109716952
|
|
],
|
|
"position_mm": [
|
|
304.3652749805057,
|
|
-359.9633747075576,
|
|
-24.38335109716952
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10517685257313943,
|
|
-0.18966684680868884,
|
|
-0.028040644581735493
|
|
],
|
|
"position_mm": [
|
|
105.17685257313943,
|
|
-189.66684680868883,
|
|
-28.040644581735492
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.31160015944292196,
|
|
-0.15479176571747108,
|
|
0.15626364777328286
|
|
],
|
|
"position_mm": [
|
|
311.60015944292195,
|
|
-154.7917657174711,
|
|
156.26364777328286
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.02158222592219386,
|
|
-0.01937445536862416,
|
|
0.0008171948871917406
|
|
],
|
|
"position_mm": [
|
|
21.58222592219386,
|
|
-19.37445536862416,
|
|
0.8171948871917406
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.2536281947150334,
|
|
-0.0077353364840352995,
|
|
-0.00042679578516101286
|
|
],
|
|
"position_mm": [
|
|
253.6281947150334,
|
|
-7.735336484035299,
|
|
-0.42679578516101285
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3478079101759436,
|
|
-0.011649294441938034,
|
|
0.0011185463631570808
|
|
],
|
|
"position_mm": [
|
|
347.8079101759436,
|
|
-11.649294441938034,
|
|
1.118546363157081
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 231,
|
|
"position_m": [
|
|
0.3180647470286128,
|
|
-0.020760422150703704,
|
|
0.3130125686741599
|
|
],
|
|
"position_mm": [
|
|
318.0647470286128,
|
|
-20.760422150703704,
|
|
313.01256867415987
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.23039115927679446,
|
|
-0.03858957128088691,
|
|
0.3074353613661691
|
|
],
|
|
"position_mm": [
|
|
230.39115927679447,
|
|
-38.58957128088691,
|
|
307.4353613661691
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"position_m": [
|
|
0.32060266134081405,
|
|
-0.04335807733700735,
|
|
0.29885123737538366
|
|
],
|
|
"position_mm": [
|
|
320.60266134081405,
|
|
-43.358077337007344,
|
|
298.8512373753837
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"position_m": [
|
|
0.2833381909007685,
|
|
-0.04262269168297554,
|
|
0.30298355887453454
|
|
],
|
|
"position_mm": [
|
|
283.3381909007685,
|
|
-42.62269168297554,
|
|
302.98355887453454
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
}
|
|
]
|
|
} |