770 lines
14 KiB
JSON
770 lines
14 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-03T04:43:01Z",
|
|
"summary": {
|
|
"num_cameras": 4,
|
|
"num_markers": 36,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "b",
|
|
"position_m": [
|
|
0.305490949597657,
|
|
-0.8933107144337022,
|
|
1.201793445382242
|
|
],
|
|
"position_mm": [
|
|
305.490949597657,
|
|
-893.3107144337023,
|
|
1201.793445382242
|
|
],
|
|
"direction": [
|
|
0.004346273839473724,
|
|
0.6234733462333679,
|
|
-0.7818325161933899
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "d",
|
|
"position_m": [
|
|
0.6998694007459306,
|
|
-0.7986960051436206,
|
|
0.3960629812496366
|
|
],
|
|
"position_mm": [
|
|
699.8694007459306,
|
|
-798.6960051436206,
|
|
396.0629812496366
|
|
],
|
|
"direction": [
|
|
-0.551314651966095,
|
|
0.7866094708442688,
|
|
-0.2780245542526245
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "e",
|
|
"position_m": [
|
|
1.199993510216928,
|
|
-0.898854507188056,
|
|
0.3991201451566491
|
|
],
|
|
"position_mm": [
|
|
1199.993510216928,
|
|
-898.854507188056,
|
|
399.12014515664913
|
|
],
|
|
"direction": [
|
|
-0.7501824498176575,
|
|
0.6059012413024902,
|
|
-0.26478278636932373
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "f",
|
|
"position_m": [
|
|
0.4868524979390756,
|
|
-0.3053064794581952,
|
|
1.4026599785486356
|
|
],
|
|
"position_mm": [
|
|
486.8524979390756,
|
|
-305.3064794581952,
|
|
1402.6599785486355
|
|
],
|
|
"direction": [
|
|
-0.2289382964372635,
|
|
0.08377356827259064,
|
|
-0.9698294997215271
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.21587735650560555,
|
|
-0.08180287618645059,
|
|
0.34834542877660435
|
|
],
|
|
"position_mm": [
|
|
215.87735650560555,
|
|
-81.80287618645059,
|
|
348.34542877660436
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.2662452188671025,
|
|
-0.07550369883476232,
|
|
0.34021306045926536
|
|
],
|
|
"position_mm": [
|
|
266.2452188671025,
|
|
-75.50369883476232,
|
|
340.21306045926536
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.5348106430637829,
|
|
0.1825502841513854,
|
|
-0.02768532498897306
|
|
],
|
|
"position_mm": [
|
|
534.8106430637829,
|
|
182.5502841513854,
|
|
-27.68532498897306
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.34371118922723665,
|
|
-0.288478759048098,
|
|
-0.027321335677912426
|
|
],
|
|
"position_mm": [
|
|
343.7111892272367,
|
|
-288.478759048098,
|
|
-27.321335677912426
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16804981321102339,
|
|
-0.1733799900891341,
|
|
-0.02748128052900998
|
|
],
|
|
"position_mm": [
|
|
168.04981321102338,
|
|
-173.3799900891341,
|
|
-27.48128052900998
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.48804033956759585,
|
|
0.21430325911961076,
|
|
-0.027209698242874555
|
|
],
|
|
"position_mm": [
|
|
488.0403395675958,
|
|
214.30325911961077,
|
|
-27.209698242874556
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.33990363680615276,
|
|
-0.32773171952666275,
|
|
-0.027335015282216022
|
|
],
|
|
"position_mm": [
|
|
339.90363680615275,
|
|
-327.73171952666274,
|
|
-27.335015282216023
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2843535432979583,
|
|
-0.2610234027015581,
|
|
-0.02741953858652933
|
|
],
|
|
"position_mm": [
|
|
284.3535432979583,
|
|
-261.0234027015581,
|
|
-27.419538586529328
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.5004907822024012,
|
|
0.16521096374908842,
|
|
-0.02767281665557336
|
|
],
|
|
"position_mm": [
|
|
500.4907822024012,
|
|
165.21096374908842,
|
|
-27.67281665557336
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.047140375047561314,
|
|
-0.21634148967469752,
|
|
-0.027505398849712245
|
|
],
|
|
"position_mm": [
|
|
47.140375047561314,
|
|
-216.34148967469753,
|
|
-27.505398849712247
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"position_m": [
|
|
-0.021385908190356694,
|
|
0.33222396227830603,
|
|
-0.02554538782134809
|
|
],
|
|
"position_mm": [
|
|
-21.385908190356695,
|
|
332.22396227830603,
|
|
-25.54538782134809
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4018700212280804,
|
|
-0.1733228196125618,
|
|
-0.027262247998850447
|
|
],
|
|
"position_mm": [
|
|
401.8700212280804,
|
|
-173.3228196125618,
|
|
-27.262247998850448
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.019412418889902472,
|
|
-0.18928108480596706,
|
|
-0.027325010921269953
|
|
],
|
|
"position_mm": [
|
|
-19.412418889902472,
|
|
-189.28108480596705,
|
|
-27.325010921269953
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"position_m": [
|
|
0.20958211677629288,
|
|
-0.36346304336885615,
|
|
-0.027419536087061044
|
|
],
|
|
"position_mm": [
|
|
209.58211677629288,
|
|
-363.4630433688562,
|
|
-27.419536087061044
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"position_m": [
|
|
0.5753848534354601,
|
|
0.17377269046051366,
|
|
-0.027545729903645243
|
|
],
|
|
"position_mm": [
|
|
575.3848534354601,
|
|
173.77269046051367,
|
|
-27.545729903645242
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005636096931569344,
|
|
-0.2774380285053907,
|
|
-0.02751246023547469
|
|
],
|
|
"position_mm": [
|
|
5.6360969315693445,
|
|
-277.43802850539066,
|
|
-27.51246023547469
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.4415712179798521,
|
|
0.19327276186364467,
|
|
-0.0273148632352283
|
|
],
|
|
"position_mm": [
|
|
441.5712179798521,
|
|
193.27276186364466,
|
|
-27.3148632352283
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 73,
|
|
"position_m": [
|
|
0.22124436122635588,
|
|
0.3308253695896794,
|
|
-0.027013676291276233
|
|
],
|
|
"position_mm": [
|
|
221.2443612263559,
|
|
330.8253695896794,
|
|
-27.013676291276234
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3113304004839145,
|
|
-0.15970740659046254,
|
|
-0.027456260196069445
|
|
],
|
|
"position_mm": [
|
|
311.3304004839145,
|
|
-159.70740659046254,
|
|
-27.456260196069444
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.3619853130739505,
|
|
0.29505456942455066,
|
|
-0.027012332663333156
|
|
],
|
|
"position_mm": [
|
|
361.98531307395046,
|
|
295.05456942455066,
|
|
-27.012332663333154
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18654980625838755,
|
|
-0.276876874141574,
|
|
-0.027497083390545192
|
|
],
|
|
"position_mm": [
|
|
186.54980625838755,
|
|
-276.87687414157404,
|
|
-27.497083390545193
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.37158089847713277,
|
|
-0.18432361414496773,
|
|
-0.027375674294721757
|
|
],
|
|
"position_mm": [
|
|
371.5808984771328,
|
|
-184.32361414496773,
|
|
-27.375674294721758
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10465242771728493,
|
|
-0.1907778003445846,
|
|
-0.02752130439113012
|
|
],
|
|
"position_mm": [
|
|
104.65242771728494,
|
|
-190.77780034458462,
|
|
-27.521304391130123
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.26830286689320987,
|
|
-0.16061093514861866,
|
|
0.2346936154983331
|
|
],
|
|
"position_mm": [
|
|
268.30286689320985,
|
|
-160.61093514861867,
|
|
234.6936154983331
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"position_m": [
|
|
0.29410172894631553,
|
|
-0.12104747295200378,
|
|
0.2686927303876621
|
|
],
|
|
"position_mm": [
|
|
294.1017289463155,
|
|
-121.04747295200379,
|
|
268.6927303876621
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6495284960619043,
|
|
-0.010866335204295256,
|
|
0.0008348343991377599
|
|
],
|
|
"position_mm": [
|
|
649.5284960619043,
|
|
-10.866335204295256,
|
|
0.8348343991377598
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.3522077703743595,
|
|
-0.08938233676689128,
|
|
0.0002276322558960371
|
|
],
|
|
"position_mm": [
|
|
352.20777037435954,
|
|
-89.38233676689129,
|
|
0.2276322558960371
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.022223456081047907,
|
|
-0.020634753508579566,
|
|
0.0011953198210950045
|
|
],
|
|
"position_mm": [
|
|
22.223456081047907,
|
|
-20.634753508579568,
|
|
1.1953198210950045
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.25308443414884835,
|
|
-0.010679818540910295,
|
|
0.0003616988010630747
|
|
],
|
|
"position_mm": [
|
|
253.08443414884835,
|
|
-10.679818540910295,
|
|
0.36169880106307467
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.34779663130977,
|
|
-0.012116456504530125,
|
|
0.00031384745627326095
|
|
],
|
|
"position_mm": [
|
|
347.79663130977,
|
|
-12.116456504530126,
|
|
0.31384745627326094
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.16594060851678782,
|
|
-0.14241589521456655,
|
|
0.08728526370399493
|
|
],
|
|
"position_mm": [
|
|
165.94060851678782,
|
|
-142.41589521456655,
|
|
87.28526370399493
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"position_m": [
|
|
0.25813406594789196,
|
|
-0.16781350356474395,
|
|
0.028135008448961846
|
|
],
|
|
"position_mm": [
|
|
258.13406594789194,
|
|
-167.81350356474394,
|
|
28.135008448961848
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.171086421218729,
|
|
-0.176355527528134,
|
|
0.0468494850050156
|
|
],
|
|
"position_mm": [
|
|
171.086421218729,
|
|
-176.355527528134,
|
|
46.8494850050156
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"position_m": [
|
|
0.29537775722911447,
|
|
-0.1407435690806215,
|
|
0.047821330851258566
|
|
],
|
|
"position_mm": [
|
|
295.3777572291145,
|
|
-140.74356908062148,
|
|
47.821330851258566
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.26024033428953414,
|
|
-0.17669288121317572,
|
|
0.05243934170788427
|
|
],
|
|
"position_mm": [
|
|
260.24033428953413,
|
|
-176.69288121317572,
|
|
52.439341707884275
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.22637320015700613,
|
|
-0.17656191329232196,
|
|
0.05331705193954533
|
|
],
|
|
"position_mm": [
|
|
226.37320015700612,
|
|
-176.56191329232195,
|
|
53.31705193954533
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |