389 lines
7.4 KiB
JSON
389 lines
7.4 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-02T21:24:50Z",
|
|
"summary": {
|
|
"num_cameras": 4,
|
|
"num_markers": 16,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.30248901741824863,
|
|
-0.7974408418770258,
|
|
0.793212239629554
|
|
],
|
|
"position_mm": [
|
|
-302.48901741824864,
|
|
-797.4408418770258,
|
|
793.212239629554
|
|
],
|
|
"direction": [
|
|
0.4821038544178009,
|
|
0.6583291888237,
|
|
-0.5780817866325378
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "b",
|
|
"position_m": [
|
|
0.3087709715705254,
|
|
-0.8865315577687489,
|
|
1.2045728724504903
|
|
],
|
|
"position_mm": [
|
|
308.77097157052543,
|
|
-886.5315577687489,
|
|
1204.5728724504902
|
|
],
|
|
"direction": [
|
|
0.0027412460185587406,
|
|
0.6196938753128052,
|
|
-0.7848387956619263
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "c",
|
|
"position_m": [
|
|
0.280082177793039,
|
|
-0.9114096774406122,
|
|
0.3947187862124093
|
|
],
|
|
"position_mm": [
|
|
280.082177793039,
|
|
-911.4096774406122,
|
|
394.7187862124093
|
|
],
|
|
"direction": [
|
|
-0.08651693910360336,
|
|
0.953553318977356,
|
|
-0.2885323166847229
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "f",
|
|
"position_m": [
|
|
0.4596745648416638,
|
|
-0.3017623765300801,
|
|
1.4128365689465576
|
|
],
|
|
"position_mm": [
|
|
459.6745648416638,
|
|
-301.7623765300801,
|
|
1412.8365689465577
|
|
],
|
|
"direction": [
|
|
-0.20994123816490173,
|
|
0.08133889734745026,
|
|
-0.9743247032165527
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 40,
|
|
"position_m": [
|
|
0.29501912228329485,
|
|
0.12668250666905445,
|
|
0.1283206877767054
|
|
],
|
|
"position_mm": [
|
|
295.01912228329485,
|
|
126.68250666905445,
|
|
128.3206877767054
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
-0.4224220616915755,
|
|
0.0,
|
|
-0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 45,
|
|
"position_m": [
|
|
0.25258263449480245,
|
|
0.14437202222522774,
|
|
0.14598630396709575
|
|
],
|
|
"position_mm": [
|
|
252.58263449480245,
|
|
144.37202222522774,
|
|
145.98630396709575
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
-0.8830215713766957,
|
|
-0.3090575499818435,
|
|
-0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4035678171877388,
|
|
-0.17145907949703834,
|
|
-0.03270124447100042
|
|
],
|
|
"position_mm": [
|
|
403.5678171877388,
|
|
-171.45907949703835,
|
|
-32.701244471000415
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.01782643637204893,
|
|
-0.19090368690420037,
|
|
-0.023852065371859174
|
|
],
|
|
"position_mm": [
|
|
-17.82643637204893,
|
|
-190.90368690420038,
|
|
-23.852065371859172
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3704762707966328,
|
|
-0.1855448868927115,
|
|
-0.02519298628253633
|
|
],
|
|
"position_mm": [
|
|
370.47627079663283,
|
|
-185.5448868927115,
|
|
-25.19298628253633
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6527954936628235,
|
|
-0.22250641612582575,
|
|
-0.02896187454163323
|
|
],
|
|
"position_mm": [
|
|
652.7954936628236,
|
|
-222.50641612582575,
|
|
-28.96187454163323
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.15788413866073822,
|
|
-0.04952178354736156,
|
|
0.10834409876763627
|
|
],
|
|
"position_mm": [
|
|
157.88413866073822,
|
|
-49.52178354736156,
|
|
108.34409876763627
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6513256516338264,
|
|
-0.00903688701070149,
|
|
-0.0005168233316782825
|
|
],
|
|
"position_mm": [
|
|
651.3256516338264,
|
|
-9.03688701070149,
|
|
-0.5168233316782825
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.35152854419121915,
|
|
-0.0904365625929681,
|
|
0.00048149066829211067
|
|
],
|
|
"position_mm": [
|
|
351.52854419121917,
|
|
-90.4365625929681,
|
|
0.4814906682921107
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.020961190604730017,
|
|
-0.021720680175227575,
|
|
0.001425129113506341
|
|
],
|
|
"position_mm": [
|
|
20.961190604730017,
|
|
-21.720680175227574,
|
|
1.425129113506341
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3489510180379781,
|
|
-0.010478340111701021,
|
|
0.0002866170029735501
|
|
],
|
|
"position_mm": [
|
|
348.95101803797814,
|
|
-10.478340111701021,
|
|
0.2866170029735501
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.6471972128874973,
|
|
-0.08892998167058085,
|
|
-0.00029532357368871064
|
|
],
|
|
"position_mm": [
|
|
647.1972128874974,
|
|
-88.92998167058084,
|
|
-0.29532357368871065
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.15745131030785744,
|
|
-0.13950747760058804,
|
|
0.10988744079252674
|
|
],
|
|
"position_mm": [
|
|
157.45131030785745,
|
|
-139.50747760058803,
|
|
109.88744079252675
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"position_m": [
|
|
0.24470533595451532,
|
|
-0.166685801557457,
|
|
0.10257445434239133
|
|
],
|
|
"position_mm": [
|
|
244.70533595451533,
|
|
-166.68580155745698,
|
|
102.57445434239133
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.15669328054295495,
|
|
-0.17559332603664324,
|
|
0.0760163351138204
|
|
],
|
|
"position_mm": [
|
|
156.69328054295494,
|
|
-175.59332603664325,
|
|
76.0163351138204
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.24734709434299118,
|
|
-0.14253947892115232,
|
|
0.11387044443926639
|
|
],
|
|
"position_mm": [
|
|
247.34709434299117,
|
|
-142.53947892115232,
|
|
113.8704444392664
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |