902 lines
17 KiB
JSON
902 lines
17 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-03T04:25:40Z",
|
|
"summary": {
|
|
"num_cameras": 5,
|
|
"num_markers": 42,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.2999039553024492,
|
|
-0.7966331104538593,
|
|
0.8022965428228306
|
|
],
|
|
"position_mm": [
|
|
-299.90395530244916,
|
|
-796.6331104538593,
|
|
802.2965428228306
|
|
],
|
|
"direction": [
|
|
0.4790363907814026,
|
|
0.655602753162384,
|
|
-0.5837029814720154
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "c",
|
|
"position_m": [
|
|
0.30200652155301316,
|
|
-0.9020153808807998,
|
|
0.39842941410859795
|
|
],
|
|
"position_mm": [
|
|
302.00652155301316,
|
|
-902.0153808807999,
|
|
398.42941410859794
|
|
],
|
|
"direction": [
|
|
-0.10717876255512238,
|
|
0.9495941400527954,
|
|
-0.2945907711982727
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "e",
|
|
"position_m": [
|
|
1.2031666552274363,
|
|
-0.9024200483733755,
|
|
0.40396080672886847
|
|
],
|
|
"position_mm": [
|
|
1203.1666552274362,
|
|
-902.4200483733755,
|
|
403.9608067288685
|
|
],
|
|
"direction": [
|
|
-0.7491942644119263,
|
|
0.6063534617424011,
|
|
-0.26653963327407837
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "f",
|
|
"position_m": [
|
|
0.48527535699969704,
|
|
-0.3052028540305418,
|
|
1.4031193543203273
|
|
],
|
|
"position_mm": [
|
|
485.275356999697,
|
|
-305.2028540305418,
|
|
1403.1193543203274
|
|
],
|
|
"direction": [
|
|
-0.22739066183567047,
|
|
0.08463967591524124,
|
|
-0.9701183438301086
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "g",
|
|
"position_m": [
|
|
-0.2072035888495123,
|
|
0.2035164095056965,
|
|
1.4022641029137521
|
|
],
|
|
"position_mm": [
|
|
-207.2035888495123,
|
|
203.5164095056965,
|
|
1402.2641029137521
|
|
],
|
|
"direction": [
|
|
0.30012577772140503,
|
|
-0.29805290699005127,
|
|
-0.906139612197876
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 41,
|
|
"position_m": [
|
|
0.2575470165705916,
|
|
-0.1431152720875023,
|
|
0.34488869184697035
|
|
],
|
|
"position_mm": [
|
|
257.5470165705916,
|
|
-143.1152720875023,
|
|
344.88869184697035
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.24294491454733885,
|
|
-0.17512375577068542,
|
|
0.3471663396385901
|
|
],
|
|
"position_mm": [
|
|
242.94491454733884,
|
|
-175.12375577068542,
|
|
347.1663396385901
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 44,
|
|
"position_m": [
|
|
0.2646507892280259,
|
|
-0.1741555806194812,
|
|
0.29883383085605764
|
|
],
|
|
"position_mm": [
|
|
264.6507892280259,
|
|
-174.15558061948119,
|
|
298.83383085605766
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
-0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 45,
|
|
"position_m": [
|
|
0.2545488168645282,
|
|
-0.19378422935447337,
|
|
0.33809212057425597
|
|
],
|
|
"position_mm": [
|
|
254.5488168645282,
|
|
-193.78422935447338,
|
|
338.092120574256
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
-0.8830215713766957,
|
|
-0.3090575499818435,
|
|
-0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.5350165400132815,
|
|
0.1826418160214661,
|
|
-0.028652005617183406
|
|
],
|
|
"position_mm": [
|
|
535.0165400132814,
|
|
182.6418160214661,
|
|
-28.652005617183406
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.34367054802444236,
|
|
-0.28830294759784697,
|
|
-0.02738273197870817
|
|
],
|
|
"position_mm": [
|
|
343.6705480244424,
|
|
-288.302947597847,
|
|
-27.382731978708172
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6872357590623445,
|
|
-0.3183110997000704,
|
|
-0.02736752709281734
|
|
],
|
|
"position_mm": [
|
|
687.2357590623444,
|
|
-318.3110997000704,
|
|
-27.36752709281734
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16811498360707197,
|
|
-0.17228168606933408,
|
|
-0.028186384527186595
|
|
],
|
|
"position_mm": [
|
|
168.11498360707196,
|
|
-172.28168606933409,
|
|
-28.186384527186593
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.48841828099638046,
|
|
0.21479756732665914,
|
|
-0.02807809684215796
|
|
],
|
|
"position_mm": [
|
|
488.4182809963805,
|
|
214.79756732665913,
|
|
-28.07809684215796
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.33962409402890337,
|
|
-0.32758662047158177,
|
|
-0.026885125172550716
|
|
],
|
|
"position_mm": [
|
|
339.62409402890336,
|
|
-327.5866204715818,
|
|
-26.885125172550715
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2842367732886842,
|
|
-0.2607893627359147,
|
|
-0.027073617209115372
|
|
],
|
|
"position_mm": [
|
|
284.23677328868416,
|
|
-260.78936273591466,
|
|
-27.073617209115373
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.5007011174190135,
|
|
0.16527222732050675,
|
|
-0.02843007846286294
|
|
],
|
|
"position_mm": [
|
|
500.7011174190135,
|
|
165.27222732050674,
|
|
-28.43007846286294
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.047126088883114335,
|
|
-0.21657320767576574,
|
|
-0.027002935683969123
|
|
],
|
|
"position_mm": [
|
|
47.126088883114335,
|
|
-216.57320767576573,
|
|
-27.002935683969124
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6277769659644352,
|
|
-0.27660381249787225,
|
|
-0.027238540836524116
|
|
],
|
|
"position_mm": [
|
|
627.7769659644352,
|
|
-276.60381249787224,
|
|
-27.238540836524116
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40170836731455506,
|
|
-0.17301076763104872,
|
|
-0.027334894653962646
|
|
],
|
|
"position_mm": [
|
|
401.70836731455506,
|
|
-173.01076763104874,
|
|
-27.334894653962646
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7754141876912736,
|
|
-0.2362452054670934,
|
|
-0.027519992057781585
|
|
],
|
|
"position_mm": [
|
|
775.4141876912736,
|
|
-236.2452054670934,
|
|
-27.519992057781586
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.019249367174109334,
|
|
-0.1896524968172519,
|
|
-0.02639139217986832
|
|
],
|
|
"position_mm": [
|
|
-19.249367174109334,
|
|
-189.65249681725192,
|
|
-26.391392179868323
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"position_m": [
|
|
0.20997090102533142,
|
|
-0.3637003310532822,
|
|
-0.0269273631080352
|
|
],
|
|
"position_mm": [
|
|
209.97090102533141,
|
|
-363.7003310532822,
|
|
-26.927363108035202
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005947906278254108,
|
|
-0.27778371325638207,
|
|
-0.027271734365714534
|
|
],
|
|
"position_mm": [
|
|
5.947906278254108,
|
|
-277.78371325638204,
|
|
-27.271734365714533
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.44179430178025286,
|
|
0.19348945891129138,
|
|
-0.02824425070959826
|
|
],
|
|
"position_mm": [
|
|
441.79430178025285,
|
|
193.48945891129136,
|
|
-28.244250709598262
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3117195395733936,
|
|
-0.1597931580338699,
|
|
-0.02754428468393372
|
|
],
|
|
"position_mm": [
|
|
311.7195395733936,
|
|
-159.7931580338699,
|
|
-27.54428468393372
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5063764674586347,
|
|
-0.31390085463297274,
|
|
-0.02739638071676767
|
|
],
|
|
"position_mm": [
|
|
506.37646745863475,
|
|
-313.9008546329727,
|
|
-27.39638071676767
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.36163899905876007,
|
|
0.2946407445673539,
|
|
-0.026783509597984995
|
|
],
|
|
"position_mm": [
|
|
361.6389990587601,
|
|
294.6407445673539,
|
|
-26.783509597984995
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6468836624910508,
|
|
-0.18710019604996667,
|
|
-0.02730054589433841
|
|
],
|
|
"position_mm": [
|
|
646.8836624910508,
|
|
-187.10019604996666,
|
|
-27.300545894338413
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18620851029330499,
|
|
-0.27679223704273176,
|
|
-0.026559985565914403
|
|
],
|
|
"position_mm": [
|
|
186.20851029330498,
|
|
-276.79223704273176,
|
|
-26.559985565914403
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3719742809586409,
|
|
-0.18438439650270863,
|
|
-0.0277260990879051
|
|
],
|
|
"position_mm": [
|
|
371.97428095864086,
|
|
-184.38439650270863,
|
|
-27.7260990879051
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.306059775231544,
|
|
-0.35841123626853655,
|
|
-0.02667915689185217
|
|
],
|
|
"position_mm": [
|
|
306.059775231544,
|
|
-358.4112362685365,
|
|
-26.67915689185217
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6513066038092712,
|
|
-0.22358098520544847,
|
|
-0.02751001353499555
|
|
],
|
|
"position_mm": [
|
|
651.3066038092712,
|
|
-223.58098520544848,
|
|
-27.51001353499555
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10459103504945451,
|
|
-0.19098513964455363,
|
|
-0.027271299225656208
|
|
],
|
|
"position_mm": [
|
|
104.5910350494545,
|
|
-190.98513964455364,
|
|
-27.271299225656207
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 114,
|
|
"position_m": [
|
|
0.28321517436517246,
|
|
-0.1490598916844704,
|
|
0.23713381095527059
|
|
],
|
|
"position_mm": [
|
|
283.21517436517246,
|
|
-149.0598916844704,
|
|
237.13381095527058
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 115,
|
|
"position_m": [
|
|
0.23294750525542143,
|
|
-0.16077983156218809,
|
|
0.23638947274339148
|
|
],
|
|
"position_mm": [
|
|
232.94750525542145,
|
|
-160.7798315621881,
|
|
236.38947274339148
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 120,
|
|
"position_m": [
|
|
0.2825086593472818,
|
|
-0.15413043319220388,
|
|
0.16671096005782873
|
|
],
|
|
"position_mm": [
|
|
282.5086593472818,
|
|
-154.13043319220387,
|
|
166.71096005782874
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.16088940179724817,
|
|
-0.05258213302141981,
|
|
0.09079444080570777
|
|
],
|
|
"position_mm": [
|
|
160.88940179724818,
|
|
-52.58213302141981,
|
|
90.79444080570777
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6509996296677141,
|
|
-0.010328613991928769,
|
|
0.0002571903287629399
|
|
],
|
|
"position_mm": [
|
|
650.9996296677141,
|
|
-10.32861399192877,
|
|
0.2571903287629399
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.352975991716331,
|
|
-0.08914173795742344,
|
|
-0.0002715994962022718
|
|
],
|
|
"position_mm": [
|
|
352.975991716331,
|
|
-89.14173795742344,
|
|
-0.2715994962022718
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.022216950226521703,
|
|
-0.020535507464001297,
|
|
0.0014274134752063007
|
|
],
|
|
"position_mm": [
|
|
22.216950226521703,
|
|
-20.5355074640013,
|
|
1.4274134752063008
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.34841790090884717,
|
|
-0.012408376325307608,
|
|
0.000926916435895605
|
|
],
|
|
"position_mm": [
|
|
348.4179009088472,
|
|
-12.408376325307607,
|
|
0.926916435895605
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.6476445385343588,
|
|
-0.08934670082743063,
|
|
-0.000988216004373905
|
|
],
|
|
"position_mm": [
|
|
647.6445385343587,
|
|
-89.34670082743062,
|
|
-0.988216004373905
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.15720933983216354,
|
|
-0.14163659274018559,
|
|
0.08728844277876319
|
|
],
|
|
"position_mm": [
|
|
157.20933983216352,
|
|
-141.6365927401856,
|
|
87.28844277876318
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.16019854982480608,
|
|
-0.17655427788156608,
|
|
0.0473787734524942
|
|
],
|
|
"position_mm": [
|
|
160.1985498248061,
|
|
-176.55427788156607,
|
|
47.3787734524942
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.2497308031523265,
|
|
-0.17688305903124898,
|
|
0.052970281828880784
|
|
],
|
|
"position_mm": [
|
|
249.7308031523265,
|
|
-176.883059031249,
|
|
52.970281828880786
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.2169751503223593,
|
|
-0.17807922811333038,
|
|
0.054118248633492426
|
|
],
|
|
"position_mm": [
|
|
216.9751503223593,
|
|
-178.07922811333037,
|
|
54.11824863349243
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |