275 lines
5.2 KiB
JSON
275 lines
5.2 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-02T21:33:43Z",
|
|
"summary": {
|
|
"num_cameras": 4,
|
|
"num_markers": 10,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.29940769598056693,
|
|
-0.7968572832052518,
|
|
0.8013043562141825
|
|
],
|
|
"position_mm": [
|
|
-299.4076959805669,
|
|
-796.8572832052519,
|
|
801.3043562141825
|
|
],
|
|
"direction": [
|
|
0.47903624176979065,
|
|
0.6561309099197388,
|
|
-0.5831093788146973
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "c",
|
|
"position_m": [
|
|
0.2064071124379028,
|
|
-0.926187065022701,
|
|
0.3357318521749194
|
|
],
|
|
"position_mm": [
|
|
206.4071124379028,
|
|
-926.187065022701,
|
|
335.7318521749194
|
|
],
|
|
"direction": [
|
|
0.0031979582272469997,
|
|
0.9754828810691833,
|
|
-0.2200520932674408
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "d",
|
|
"position_m": [
|
|
0.7059955951329147,
|
|
-0.792357011835109,
|
|
0.3960723600448604
|
|
],
|
|
"position_mm": [
|
|
705.9955951329147,
|
|
-792.357011835109,
|
|
396.07236004486043
|
|
],
|
|
"direction": [
|
|
-0.5582603812217712,
|
|
0.781305193901062,
|
|
-0.27911919355392456
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "e",
|
|
"position_m": [
|
|
1.2103337331165203,
|
|
-0.9172186262611701,
|
|
0.4058150319226835
|
|
],
|
|
"position_mm": [
|
|
1210.3337331165203,
|
|
-917.2186262611701,
|
|
405.8150319226835
|
|
],
|
|
"direction": [
|
|
-0.7488687634468079,
|
|
0.6081039905548096,
|
|
-0.2634483873844147
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31195510280184574,
|
|
-0.15943152293541096,
|
|
-0.02662615705043619
|
|
],
|
|
"position_mm": [
|
|
311.9551028018457,
|
|
-159.43152293541095,
|
|
-26.62615705043619
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18713890195834726,
|
|
-0.27589751614956826,
|
|
-0.02771560683631049
|
|
],
|
|
"position_mm": [
|
|
187.13890195834725,
|
|
-275.8975161495683,
|
|
-27.71560683631049
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.36978175787247874,
|
|
-0.18604644198974293,
|
|
-0.0270637717745834
|
|
],
|
|
"position_mm": [
|
|
369.78175787247875,
|
|
-186.04644198974293,
|
|
-27.0637717745834
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6516644074666503,
|
|
-0.22360764449885556,
|
|
-0.027683719241540648
|
|
],
|
|
"position_mm": [
|
|
651.6644074666503,
|
|
-223.60764449885556,
|
|
-27.683719241540647
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10541267076864451,
|
|
-0.19088881037190533,
|
|
-0.026800352213615385
|
|
],
|
|
"position_mm": [
|
|
105.4126707686445,
|
|
-190.88881037190532,
|
|
-26.800352213615387
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.2645546802188578,
|
|
0.038425175794498403,
|
|
0.0935959702344579
|
|
],
|
|
"position_mm": [
|
|
264.5546802188578,
|
|
38.4251757944984,
|
|
93.5959702344579
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"position_m": [
|
|
0.24558706386388926,
|
|
-0.16477726934305448,
|
|
0.08185285822222384
|
|
],
|
|
"position_mm": [
|
|
245.58706386388926,
|
|
-164.77726934305448,
|
|
81.85285822222384
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.1580995203861218,
|
|
-0.176035724548722,
|
|
0.05443444077014569
|
|
],
|
|
"position_mm": [
|
|
158.09952038612178,
|
|
-176.035724548722,
|
|
54.43444077014569
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"position_m": [
|
|
0.2877605343204473,
|
|
-0.15005520681616427,
|
|
0.06242452151347884
|
|
],
|
|
"position_mm": [
|
|
287.7605343204473,
|
|
-150.05520681616426,
|
|
62.42452151347884
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.24999209437400474,
|
|
-0.1408499975221596,
|
|
0.09306463105514852
|
|
],
|
|
"position_mm": [
|
|
249.99209437400475,
|
|
-140.8499975221596,
|
|
93.06463105514852
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |