672 lines
13 KiB
JSON
672 lines
13 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-02T21:27:36Z",
|
|
"summary": {
|
|
"num_cameras": 6,
|
|
"num_markers": 29,
|
|
"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": "d",
|
|
"position_m": [
|
|
0.6955577422885929,
|
|
-0.7981988629911659,
|
|
0.3941665952931933
|
|
],
|
|
"position_mm": [
|
|
695.5577422885929,
|
|
-798.1988629911659,
|
|
394.1665952931933
|
|
],
|
|
"direction": [
|
|
-0.5480054020881653,
|
|
0.7889851331710815,
|
|
-0.2778353989124298
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "e",
|
|
"position_m": [
|
|
1.1977002351099821,
|
|
-0.8974846357366002,
|
|
0.4002518648615185
|
|
],
|
|
"position_mm": [
|
|
1197.700235109982,
|
|
-897.4846357366002,
|
|
400.25186486151847
|
|
],
|
|
"direction": [
|
|
-0.7494373321533203,
|
|
0.6063336730003357,
|
|
-0.26590055227279663
|
|
]
|
|
},
|
|
{
|
|
"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": [
|
|
0.2948448571407319,
|
|
0.1264175138502058,
|
|
0.12719005974659114
|
|
],
|
|
"position_mm": [
|
|
294.8448571407319,
|
|
126.41751385020581,
|
|
127.19005974659115
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
-0.4224220616915755,
|
|
0.0,
|
|
-0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 45,
|
|
"position_m": [
|
|
0.2525826344936963,
|
|
0.14437202222177617,
|
|
0.14598630397035497
|
|
],
|
|
"position_mm": [
|
|
252.58263449369628,
|
|
144.37202222177618,
|
|
145.98630397035498
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
-0.8830215713766957,
|
|
-0.3090575499818435,
|
|
-0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.4864447134453806,
|
|
0.21480655925482553,
|
|
-0.027571767343571016
|
|
],
|
|
"position_mm": [
|
|
486.4447134453806,
|
|
214.80655925482554,
|
|
-27.571767343571015
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.34055236495583147,
|
|
-0.32848980047580073,
|
|
-0.026613620866410854
|
|
],
|
|
"position_mm": [
|
|
340.5523649558315,
|
|
-328.48980047580073,
|
|
-26.613620866410855
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40489286533272223,
|
|
-0.17376715744728516,
|
|
-0.026191806516554953
|
|
],
|
|
"position_mm": [
|
|
404.89286533272224,
|
|
-173.76715744728517,
|
|
-26.19180651655495
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.01786304070534807,
|
|
-0.19020537682870534,
|
|
-0.025541663083630265
|
|
],
|
|
"position_mm": [
|
|
-17.86304070534807,
|
|
-190.20537682870534,
|
|
-25.541663083630265
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.44180160878824865,
|
|
0.19540079339852043,
|
|
-0.027481556531774004
|
|
],
|
|
"position_mm": [
|
|
441.80160878824864,
|
|
195.40079339852042,
|
|
-27.481556531774004
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5052331919844324,
|
|
-0.31313651298833356,
|
|
-0.027594950496595928
|
|
],
|
|
"position_mm": [
|
|
505.2331919844324,
|
|
-313.13651298833355,
|
|
-27.594950496595928
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.36237347455885527,
|
|
0.29428256815538706,
|
|
-0.02764602831146042
|
|
],
|
|
"position_mm": [
|
|
362.37347455885526,
|
|
294.2825681553871,
|
|
-27.64602831146042
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6450433805758397,
|
|
-0.18560468900830562,
|
|
-0.02718683976942105
|
|
],
|
|
"position_mm": [
|
|
645.0433805758397,
|
|
-185.60468900830563,
|
|
-27.18683976942105
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.36989553771331235,
|
|
-0.184924122114435,
|
|
-0.026925626802771593
|
|
],
|
|
"position_mm": [
|
|
369.89553771331236,
|
|
-184.92412211443502,
|
|
-26.925626802771593
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6522048462019376,
|
|
-0.22335894380825258,
|
|
-0.02800812239885424
|
|
],
|
|
"position_mm": [
|
|
652.2048462019376,
|
|
-223.35894380825258,
|
|
-28.00812239885424
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10507794667112619,
|
|
-0.19060328912233868,
|
|
-0.026938780071102928
|
|
],
|
|
"position_mm": [
|
|
105.07794667112618,
|
|
-190.60328912233868,
|
|
-26.93878007110293
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 114,
|
|
"position_m": [
|
|
0.40652027868606183,
|
|
-0.16975347274221297,
|
|
0.1628989686982345
|
|
],
|
|
"position_mm": [
|
|
406.52027868606183,
|
|
-169.75347274221298,
|
|
162.8989686982345
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 120,
|
|
"position_m": [
|
|
0.41042876814353524,
|
|
-0.23958413611734647,
|
|
0.16582688977954882
|
|
],
|
|
"position_mm": [
|
|
410.42876814353525,
|
|
-239.58413611734647,
|
|
165.82688977954882
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.15422468693988484,
|
|
-0.0501181407998866,
|
|
0.10938901241823844
|
|
],
|
|
"position_mm": [
|
|
154.22468693988483,
|
|
-50.118140799886596,
|
|
109.38901241823844
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.650051863168986,
|
|
-0.010912801769643444,
|
|
0.001348197634015221
|
|
],
|
|
"position_mm": [
|
|
650.051863168986,
|
|
-10.912801769643444,
|
|
1.3481976340152209
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.35179634530883575,
|
|
-0.09108939715746171,
|
|
0.0009508756897351882
|
|
],
|
|
"position_mm": [
|
|
351.7963453088357,
|
|
-91.08939715746172,
|
|
0.9508756897351882
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.020963898069529235,
|
|
-0.021254351152764944,
|
|
0.0011851504147857741
|
|
],
|
|
"position_mm": [
|
|
20.963898069529236,
|
|
-21.254351152764944,
|
|
1.185150414785774
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3481759387429768,
|
|
-0.011173164283889134,
|
|
0.0004172977184446389
|
|
],
|
|
"position_mm": [
|
|
348.1759387429768,
|
|
-11.173164283889134,
|
|
0.4172977184446389
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.24867386492046029,
|
|
-0.08708660940299796,
|
|
-0.0007121133323294783
|
|
],
|
|
"position_mm": [
|
|
248.6738649204603,
|
|
-87.08660940299796,
|
|
-0.7121133323294783
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.646111742243373,
|
|
-0.09081494396732279,
|
|
0.000995826337236244
|
|
],
|
|
"position_mm": [
|
|
646.111742243373,
|
|
-90.81494396732279,
|
|
0.9958263372362439
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"position_m": [
|
|
0.4068970540718484,
|
|
-0.22027891873468358,
|
|
0.14759240525607584
|
|
],
|
|
"position_mm": [
|
|
406.8970540718484,
|
|
-220.27891873468357,
|
|
147.59240525607584
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"position_m": [
|
|
0.4036240192734819,
|
|
-0.1282665043250131,
|
|
0.14400139633211276
|
|
],
|
|
"position_mm": [
|
|
403.6240192734819,
|
|
-128.2665043250131,
|
|
144.00139633211276
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.15724058124094664,
|
|
-0.14005068166906878,
|
|
0.1111307131797655
|
|
],
|
|
"position_mm": [
|
|
157.24058124094665,
|
|
-140.05068166906878,
|
|
111.1307131797655
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"position_m": [
|
|
0.23117788587750207,
|
|
-0.10285488381243293,
|
|
0.07970818611137372
|
|
],
|
|
"position_mm": [
|
|
231.17788587750206,
|
|
-102.85488381243293,
|
|
79.70818611137372
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.15702202778602525,
|
|
-0.1737804519211988,
|
|
0.07490549240880091
|
|
],
|
|
"position_mm": [
|
|
157.02202778602526,
|
|
-173.7804519211988,
|
|
74.90549240880091
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"position_m": [
|
|
0.27922368038952744,
|
|
-0.12758634174485617,
|
|
0.0673164689472757
|
|
],
|
|
"position_mm": [
|
|
279.22368038952743,
|
|
-127.58634174485617,
|
|
67.31646894727571
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.24070070232860818,
|
|
-0.1204160023528657,
|
|
0.09755771764339792
|
|
],
|
|
"position_mm": [
|
|
240.70070232860817,
|
|
-120.4160023528657,
|
|
97.55771764339792
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |