617 lines
12 KiB
JSON
617 lines
12 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-02T22:36:16Z",
|
|
"summary": {
|
|
"num_cameras": 4,
|
|
"num_markers": 28,
|
|
"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": "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": "d",
|
|
"position_m": [
|
|
0.7026420377142895,
|
|
-0.794595122683283,
|
|
0.4010946796990027
|
|
],
|
|
"position_mm": [
|
|
702.6420377142895,
|
|
-794.5951226832831,
|
|
401.0946796990027
|
|
],
|
|
"direction": [
|
|
-0.5536129474639893,
|
|
0.7829245924949646,
|
|
-0.2837987542152405
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 40,
|
|
"position_m": [
|
|
0.30596345558003313,
|
|
-0.20042292742158763,
|
|
0.024421448798568265
|
|
],
|
|
"position_mm": [
|
|
305.96345558003316,
|
|
-200.42292742158762,
|
|
24.421448798568264
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
-0.4224220616915755,
|
|
0.0,
|
|
-0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 45,
|
|
"position_m": [
|
|
0.3544270406319947,
|
|
-0.19913623657252885,
|
|
0.020054383256370198
|
|
],
|
|
"position_mm": [
|
|
354.4270406319947,
|
|
-199.13623657252884,
|
|
20.054383256370198
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
-0.8830215713766957,
|
|
-0.3090575499818435,
|
|
-0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.34437968854093387,
|
|
-0.2863820475811711,
|
|
-0.029621849381219357
|
|
],
|
|
"position_mm": [
|
|
344.3796885409339,
|
|
-286.3820475811711,
|
|
-29.621849381219356
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 50,
|
|
"position_m": [
|
|
0.5711319307111947,
|
|
0.2116645915376653,
|
|
-0.027235486495778706
|
|
],
|
|
"position_mm": [
|
|
571.1319307111947,
|
|
211.66459153766527,
|
|
-27.235486495778705
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16710315188382385,
|
|
-0.17435508518393836,
|
|
-0.02680974448834387
|
|
],
|
|
"position_mm": [
|
|
167.10315188382384,
|
|
-174.35508518393837,
|
|
-26.80974448834387
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.33775386456315915,
|
|
-0.329604551708473,
|
|
-0.02395128955719628
|
|
],
|
|
"position_mm": [
|
|
337.75386456315914,
|
|
-329.604551708473,
|
|
-23.95128955719628
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.28464126224632186,
|
|
-0.26062083576044864,
|
|
-0.027826357964811962
|
|
],
|
|
"position_mm": [
|
|
284.64126224632184,
|
|
-260.62083576044864,
|
|
-27.82635796481196
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40323250300676455,
|
|
-0.16884901958135826,
|
|
-0.031016910925073717
|
|
],
|
|
"position_mm": [
|
|
403.23250300676455,
|
|
-168.84901958135825,
|
|
-31.016910925073716
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.01996350272302824,
|
|
-0.18858298870536114,
|
|
-0.027460426824184706
|
|
],
|
|
"position_mm": [
|
|
-19.96350272302824,
|
|
-188.58298870536115,
|
|
-27.460426824184704
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.0056045888663616315,
|
|
-0.27735299027402693,
|
|
-0.02744286606516658
|
|
],
|
|
"position_mm": [
|
|
5.604588866361632,
|
|
-277.3529902740269,
|
|
-27.44286606516658
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"position_m": [
|
|
-0.02767213564427827,
|
|
0.19341131907202444,
|
|
-0.02641797338184077
|
|
],
|
|
"position_mm": [
|
|
-27.67213564427827,
|
|
193.41131907202444,
|
|
-26.41797338184077
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5063510811876436,
|
|
-0.31353395946809015,
|
|
-0.027654667114030286
|
|
],
|
|
"position_mm": [
|
|
506.3510811876436,
|
|
-313.53395946809013,
|
|
-27.654667114030286
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.1865225540352178,
|
|
-0.2761246748180034,
|
|
-0.027515125075775883
|
|
],
|
|
"position_mm": [
|
|
186.5225540352178,
|
|
-276.1246748180034,
|
|
-27.515125075775885
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.37159280989349447,
|
|
-0.1868397330103533,
|
|
-0.026007008398885974
|
|
],
|
|
"position_mm": [
|
|
371.59280989349446,
|
|
-186.8397330103533,
|
|
-26.007008398885976
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6506496532964451,
|
|
-0.22406764829246095,
|
|
-0.027141958695372094
|
|
],
|
|
"position_mm": [
|
|
650.6496532964451,
|
|
-224.06764829246094,
|
|
-27.141958695372093
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.1050835859553689,
|
|
-0.19024723298112262,
|
|
-0.027510167298652265
|
|
],
|
|
"position_mm": [
|
|
105.0835859553689,
|
|
-190.2472329811226,
|
|
-27.510167298652263
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.31155327392345195,
|
|
-0.15463562500757527,
|
|
0.15648554212574448
|
|
],
|
|
"position_mm": [
|
|
311.55327392345197,
|
|
-154.63562500757527,
|
|
156.48554212574447
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"position_m": [
|
|
0.7523093215252077,
|
|
-0.09083060961061572,
|
|
0.0008346340096899863
|
|
],
|
|
"position_mm": [
|
|
752.3093215252077,
|
|
-90.83060961061572,
|
|
0.8346340096899864
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6500123085911849,
|
|
-0.010129749722694245,
|
|
0.0003763093550787107
|
|
],
|
|
"position_mm": [
|
|
650.0123085911848,
|
|
-10.129749722694244,
|
|
0.3763093550787107
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.021584763664385366,
|
|
-0.02063683406811379,
|
|
0.0014210494387082288
|
|
],
|
|
"position_mm": [
|
|
21.584763664385367,
|
|
-20.63683406811379,
|
|
1.4210494387082289
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.25343701003761626,
|
|
-0.008539069636170276,
|
|
-0.00013036221826128914
|
|
],
|
|
"position_mm": [
|
|
253.43701003761626,
|
|
-8.539069636170275,
|
|
-0.13036221826128913
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.347970387853639,
|
|
-0.010616512306889214,
|
|
0.0005313961557937693
|
|
],
|
|
"position_mm": [
|
|
347.970387853639,
|
|
-10.616512306889213,
|
|
0.5313961557937693
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.25036773736495543,
|
|
-0.08847882085807249,
|
|
0.00033403906093657556
|
|
],
|
|
"position_mm": [
|
|
250.36773736495545,
|
|
-88.47882085807248,
|
|
0.33403906093657554
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"position_m": [
|
|
0.353720385153576,
|
|
-0.09941566413063532,
|
|
0.19962133788702632
|
|
],
|
|
"position_mm": [
|
|
353.720385153576,
|
|
-99.41566413063532,
|
|
199.62133788702633
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 242,
|
|
"position_m": [
|
|
0.23249848724555272,
|
|
-0.049232345567788965,
|
|
0.25845337281940006
|
|
],
|
|
"position_mm": [
|
|
232.49848724555272,
|
|
-49.23234556778897,
|
|
258.45337281940004
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.2316598327858873,
|
|
-0.036913035551698316,
|
|
0.30638590290038065
|
|
],
|
|
"position_mm": [
|
|
231.65983278588732,
|
|
-36.913035551698314,
|
|
306.38590290038064
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"position_m": [
|
|
0.32115924920774624,
|
|
-0.04513278978714026,
|
|
0.29774693252994083
|
|
],
|
|
"position_mm": [
|
|
321.15924920774626,
|
|
-45.13278978714026,
|
|
297.7469325299408
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"position_m": [
|
|
0.28407568981431763,
|
|
-0.04192898018063829,
|
|
0.3023082143683256
|
|
],
|
|
"position_mm": [
|
|
284.0756898143176,
|
|
-41.928980180638284,
|
|
302.3082143683256
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
}
|
|
]
|
|
} |