825 lines
16 KiB
JSON
825 lines
16 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-02T21:23:24Z",
|
|
"summary": {
|
|
"num_cameras": 6,
|
|
"num_markers": 37,
|
|
"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
|
|
]
|
|
},
|
|
{
|
|
"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": "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": [
|
|
0.30478914286830616,
|
|
-0.20090411301768146,
|
|
0.02454157752057702
|
|
],
|
|
"position_mm": [
|
|
304.78914286830616,
|
|
-200.90411301768145,
|
|
24.54157752057702
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
-0.4224220616915755,
|
|
0.0,
|
|
-0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 45,
|
|
"position_m": [
|
|
0.3544632515108612,
|
|
-0.1998865406173633,
|
|
0.019945246703772904
|
|
],
|
|
"position_mm": [
|
|
354.4632515108612,
|
|
-199.8865406173633,
|
|
19.945246703772906
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
-0.8830215713766957,
|
|
-0.3090575499818435,
|
|
-0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"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": 48,
|
|
"position_m": [
|
|
0.6868703944357355,
|
|
-0.31799555821819997,
|
|
-0.027944872799837043
|
|
],
|
|
"position_mm": [
|
|
686.8703944357355,
|
|
-317.99555821819996,
|
|
-27.944872799837043
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 50,
|
|
"position_m": [
|
|
0.5711062778300803,
|
|
0.21167185790153248,
|
|
-0.027236392665058094
|
|
],
|
|
"position_mm": [
|
|
571.1062778300803,
|
|
211.6718579015325,
|
|
-27.236392665058094
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.1681080245114533,
|
|
-0.17338209734396196,
|
|
-0.027665654811361316
|
|
],
|
|
"position_mm": [
|
|
168.1080245114533,
|
|
-173.38209734396196,
|
|
-27.665654811361318
|
|
],
|
|
"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": [
|
|
0.33915376059638874,
|
|
-0.3281483227899199,
|
|
-0.027494392911636203
|
|
],
|
|
"position_mm": [
|
|
339.15376059638874,
|
|
-328.1483227899199,
|
|
-27.494392911636204
|
|
],
|
|
"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": 58,
|
|
"position_m": [
|
|
0.04730748420954963,
|
|
-0.21643106768910866,
|
|
-0.02731427763285767
|
|
],
|
|
"position_mm": [
|
|
47.30748420954963,
|
|
-216.43106768910866,
|
|
-27.31427763285767
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40224108783950074,
|
|
-0.17317266047438684,
|
|
-0.027915283076296118
|
|
],
|
|
"position_mm": [
|
|
402.2410878395007,
|
|
-173.17266047438684,
|
|
-27.915283076296117
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7752600463901672,
|
|
-0.2354296384502178,
|
|
-0.02838213158619101
|
|
],
|
|
"position_mm": [
|
|
775.2600463901672,
|
|
-235.4296384502178,
|
|
-28.38213158619101
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.0193340456258843,
|
|
-0.18908183378146987,
|
|
-0.0269886851594388
|
|
],
|
|
"position_mm": [
|
|
-19.3340456258843,
|
|
-189.08183378146987,
|
|
-26.988685159438802
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.0061112838085795994,
|
|
-0.27739722417105167,
|
|
-0.0272320047434096
|
|
],
|
|
"position_mm": [
|
|
6.111283808579599,
|
|
-277.3972241710517,
|
|
-27.232004743409597
|
|
],
|
|
"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": [
|
|
0.18712500986470557,
|
|
-0.27672814255121136,
|
|
-0.026652539900543178
|
|
],
|
|
"position_mm": [
|
|
187.12500986470556,
|
|
-276.72814255121136,
|
|
-26.65253990054318
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.37184117858824706,
|
|
-0.18370226748878932,
|
|
-0.028303665298172874
|
|
],
|
|
"position_mm": [
|
|
371.84117858824703,
|
|
-183.70226748878932,
|
|
-28.303665298172874
|
|
],
|
|
"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": [
|
|
0.6516449198726599,
|
|
-0.2233627937366482,
|
|
-0.027804367691410262
|
|
],
|
|
"position_mm": [
|
|
651.6449198726599,
|
|
-223.3627937366482,
|
|
-27.804367691410263
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.104643992349152,
|
|
-0.19049889834733683,
|
|
-0.02767913014219985
|
|
],
|
|
"position_mm": [
|
|
104.643992349152,
|
|
-190.49889834733682,
|
|
-27.67913014219985
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.3104023247371725,
|
|
-0.156306068910436,
|
|
0.15701631582941594
|
|
],
|
|
"position_mm": [
|
|
310.4023247371725,
|
|
-156.306068910436,
|
|
157.01631582941593
|
|
],
|
|
"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": 208,
|
|
"position_m": [
|
|
0.35272495834819445,
|
|
-0.089349745315892,
|
|
0.0010874954950881295
|
|
],
|
|
"position_mm": [
|
|
352.72495834819443,
|
|
-89.34974531589201,
|
|
1.0874954950881295
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.021879164348029265,
|
|
-0.020554696828167546,
|
|
0.0014186542106848566
|
|
],
|
|
"position_mm": [
|
|
21.879164348029263,
|
|
-20.554696828167547,
|
|
1.4186542106848565
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.2534764225210652,
|
|
-0.009923104246820535,
|
|
0.0006217621524497073
|
|
],
|
|
"position_mm": [
|
|
253.47642252106522,
|
|
-9.923104246820534,
|
|
0.6217621524497072
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.34840234712197526,
|
|
-0.012078013938502287,
|
|
0.001202886251930221
|
|
],
|
|
"position_mm": [
|
|
348.40234712197525,
|
|
-12.078013938502286,
|
|
1.202886251930221
|
|
],
|
|
"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": 218,
|
|
"position_m": [
|
|
0.3535050189182776,
|
|
-0.10080076085835513,
|
|
0.20138373933533232
|
|
],
|
|
"position_mm": [
|
|
353.50501891827764,
|
|
-100.80076085835513,
|
|
201.38373933533234
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"position_m": [
|
|
0.3532496825723185,
|
|
-0.16754453874706673,
|
|
0.1163962636425716
|
|
],
|
|
"position_mm": [
|
|
353.2496825723185,
|
|
-167.54453874706672,
|
|
116.39626364257161
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"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": 242,
|
|
"position_m": [
|
|
0.23240905503122794,
|
|
-0.04893755321345677,
|
|
0.2586224195999469
|
|
],
|
|
"position_mm": [
|
|
232.40905503122795,
|
|
-48.937553213456766,
|
|
258.6224195999469
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.23007529276737815,
|
|
-0.039070066670461895,
|
|
0.30766836125299685
|
|
],
|
|
"position_mm": [
|
|
230.07529276737816,
|
|
-39.0700666704619,
|
|
307.6683612529969
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"position_m": [
|
|
0.32003366451689874,
|
|
-0.047550984998695776,
|
|
0.29904813179015116
|
|
],
|
|
"position_mm": [
|
|
320.03366451689874,
|
|
-47.550984998695775,
|
|
299.04813179015116
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"position_m": [
|
|
0.2817741877107397,
|
|
-0.04353822356404724,
|
|
0.30355372204569236
|
|
],
|
|
"position_mm": [
|
|
281.7741877107397,
|
|
-43.53822356404724,
|
|
303.5537220456924
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
}
|
|
]
|
|
} |