504 lines
9.3 KiB
JSON
504 lines
9.3 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-02T22:35:19Z",
|
|
"summary": {
|
|
"num_cameras": 3,
|
|
"num_markers": 23,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"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": "e",
|
|
"position_m": [
|
|
1.2027035370578547,
|
|
-0.9093898126663549,
|
|
0.4081419845112901
|
|
],
|
|
"position_mm": [
|
|
1202.7035370578546,
|
|
-909.3898126663548,
|
|
408.1419845112901
|
|
],
|
|
"direction": [
|
|
-0.7457762360572815,
|
|
0.6094573736190796,
|
|
-0.26903441548347473
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "g",
|
|
"position_m": [
|
|
-0.2061597004485399,
|
|
0.2066972923859535,
|
|
1.4011416040110074
|
|
],
|
|
"position_mm": [
|
|
-206.1597004485399,
|
|
206.6972923859535,
|
|
1401.1416040110073
|
|
],
|
|
"direction": [
|
|
0.2996947467327118,
|
|
-0.3001376986503601,
|
|
-0.9055939316749573
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.34429663383110787,
|
|
-0.28601715524683163,
|
|
-0.03057390242243092
|
|
],
|
|
"position_mm": [
|
|
344.29663383110784,
|
|
-286.01715524683163,
|
|
-30.57390242243092
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6879353584330493,
|
|
-0.31898969103039365,
|
|
-0.027252823573099827
|
|
],
|
|
"position_mm": [
|
|
687.9353584330493,
|
|
-318.98969103039366,
|
|
-27.25282357309983
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16714781290978736,
|
|
-0.173812612354164,
|
|
-0.027124785497989832
|
|
],
|
|
"position_mm": [
|
|
167.14781290978738,
|
|
-173.812612354164,
|
|
-27.124785497989834
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.48697224655671595,
|
|
0.21379586950391036,
|
|
-0.025613930894239443
|
|
],
|
|
"position_mm": [
|
|
486.97224655671596,
|
|
213.79586950391035,
|
|
-25.61393089423944
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.3399593914365076,
|
|
-0.3297372533559976,
|
|
-0.026834811643165445
|
|
],
|
|
"position_mm": [
|
|
339.9593914365076,
|
|
-329.73725335599755,
|
|
-26.834811643165445
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2842971189505731,
|
|
-0.261036695743506,
|
|
-0.027171537824862015
|
|
],
|
|
"position_mm": [
|
|
284.29711895057306,
|
|
-261.036695743506,
|
|
-27.171537824862014
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 57,
|
|
"position_m": [
|
|
0.6029435209764987,
|
|
-0.36384508242975544,
|
|
-0.028431587721122135
|
|
],
|
|
"position_mm": [
|
|
602.9435209764987,
|
|
-363.84508242975545,
|
|
-28.431587721122135
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6247336602639617,
|
|
-0.2782545847421155,
|
|
-0.023873188276680328
|
|
],
|
|
"position_mm": [
|
|
624.7336602639617,
|
|
-278.2545847421155,
|
|
-23.873188276680327
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7755922845975175,
|
|
-0.23603560309416416,
|
|
-0.027680941610887716
|
|
],
|
|
"position_mm": [
|
|
775.5922845975175,
|
|
-236.03560309416417,
|
|
-27.680941610887714
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.01916952693909354,
|
|
-0.18967197229129557,
|
|
-0.026432602499291045
|
|
],
|
|
"position_mm": [
|
|
-19.169526939093537,
|
|
-189.67197229129556,
|
|
-26.432602499291047
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005783058721882763,
|
|
-0.27798325916840505,
|
|
-0.02684481356873153
|
|
],
|
|
"position_mm": [
|
|
5.783058721882764,
|
|
-277.983259168405,
|
|
-26.844813568731528
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"position_m": [
|
|
0.7507716494063181,
|
|
-0.28541401729759996,
|
|
-0.026780278051963542
|
|
],
|
|
"position_mm": [
|
|
750.7716494063181,
|
|
-285.41401729759997,
|
|
-26.780278051963542
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.44250773252261993,
|
|
0.19423558362951282,
|
|
-0.028760050520245814
|
|
],
|
|
"position_mm": [
|
|
442.50773252261996,
|
|
194.23558362951283,
|
|
-28.760050520245812
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5066743379018885,
|
|
-0.31355745588653605,
|
|
-0.027863065171753038
|
|
],
|
|
"position_mm": [
|
|
506.6743379018885,
|
|
-313.55745588653605,
|
|
-27.86306517175304
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.64683153971071,
|
|
-0.18614320516443086,
|
|
-0.02808490146659395
|
|
],
|
|
"position_mm": [
|
|
646.83153971071,
|
|
-186.14320516443087,
|
|
-28.08490146659395
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6517759154070488,
|
|
-0.22425232237172354,
|
|
-0.02731510787337696
|
|
],
|
|
"position_mm": [
|
|
651.7759154070488,
|
|
-224.25232237172355,
|
|
-27.31510787337696
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10543235844086125,
|
|
-0.1908547756095127,
|
|
-0.02760954947177271
|
|
],
|
|
"position_mm": [
|
|
105.43235844086125,
|
|
-190.8547756095127,
|
|
-27.60954947177271
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.3103649071013554,
|
|
-0.1545821085163364,
|
|
0.1562615936420593
|
|
],
|
|
"position_mm": [
|
|
310.3649071013554,
|
|
-154.58210851633638,
|
|
156.2615936420593
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"position_m": [
|
|
0.7524334187894672,
|
|
-0.09025695811091856,
|
|
0.00042612255492955866
|
|
],
|
|
"position_mm": [
|
|
752.4334187894673,
|
|
-90.25695811091856,
|
|
0.42612255492955864
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.2505007693008273,
|
|
-0.08866396246645535,
|
|
-7.826952245481893e-05
|
|
],
|
|
"position_mm": [
|
|
250.50076930082733,
|
|
-88.66396246645535,
|
|
-0.07826952245481893
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"position_m": [
|
|
0.35353963153656087,
|
|
-0.10075500100502381,
|
|
0.201422479238611
|
|
],
|
|
"position_mm": [
|
|
353.5396315365609,
|
|
-100.75500100502381,
|
|
201.422479238611
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.23074537748544427,
|
|
-0.03607661531808609,
|
|
0.3049272430322251
|
|
],
|
|
"position_mm": [
|
|
230.74537748544427,
|
|
-36.07661531808609,
|
|
304.92724303222514
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"position_m": [
|
|
0.28239365558271046,
|
|
-0.04044322176805608,
|
|
0.30144382436999856
|
|
],
|
|
"position_mm": [
|
|
282.39365558271044,
|
|
-40.44322176805608,
|
|
301.44382436999854
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
}
|
|
]
|
|
} |