694 lines
13 KiB
JSON
694 lines
13 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-03T04:33:58Z",
|
|
"summary": {
|
|
"num_cameras": 4,
|
|
"num_markers": 32,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "c",
|
|
"position_m": [
|
|
0.3025716400208697,
|
|
-0.9019776711250698,
|
|
0.39818619728372245
|
|
],
|
|
"position_mm": [
|
|
302.5716400208697,
|
|
-901.9776711250697,
|
|
398.18619728372244
|
|
],
|
|
"direction": [
|
|
-0.10782834142446518,
|
|
0.9495705962181091,
|
|
-0.2944294512271881
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "d",
|
|
"position_m": [
|
|
0.7010643463118735,
|
|
-0.7940689865992328,
|
|
0.40229983605243974
|
|
],
|
|
"position_mm": [
|
|
701.0643463118736,
|
|
-794.0689865992327,
|
|
402.29983605243973
|
|
],
|
|
"direction": [
|
|
-0.5524550080299377,
|
|
0.7830438613891602,
|
|
-0.285719633102417
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "f",
|
|
"position_m": [
|
|
0.48505310768854737,
|
|
-0.309669335539303,
|
|
1.402070939578569
|
|
],
|
|
"position_mm": [
|
|
485.05310768854736,
|
|
-309.669335539303,
|
|
1402.070939578569
|
|
],
|
|
"direction": [
|
|
-0.22737352550029755,
|
|
0.08767975866794586,
|
|
-0.9698523283004761
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "g",
|
|
"position_m": [
|
|
-0.20892576741721647,
|
|
0.20128727403677504,
|
|
1.401691703675199
|
|
],
|
|
"position_mm": [
|
|
-208.92576741721646,
|
|
201.28727403677505,
|
|
1401.691703675199
|
|
],
|
|
"direction": [
|
|
0.30114462971687317,
|
|
-0.2968323230743408,
|
|
-0.9062021970748901
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 41,
|
|
"position_m": [
|
|
0.2442099791660534,
|
|
-0.11214544185877276,
|
|
0.34374876882882477
|
|
],
|
|
"position_mm": [
|
|
244.2099791660534,
|
|
-112.14544185877276,
|
|
343.7487688288248
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.21253638536513847,
|
|
-0.07976494112194646,
|
|
0.34135896591966386
|
|
],
|
|
"position_mm": [
|
|
212.53638536513847,
|
|
-79.76494112194646,
|
|
341.3589659196639
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.26813935830805136,
|
|
-0.07525573482564352,
|
|
0.33904291077376064
|
|
],
|
|
"position_mm": [
|
|
268.1393583080513,
|
|
-75.25573482564351,
|
|
339.04291077376064
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.5348289834893832,
|
|
0.18257120279536743,
|
|
-0.02813513818862448
|
|
],
|
|
"position_mm": [
|
|
534.8289834893833,
|
|
182.5712027953674,
|
|
-28.13513818862448
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16815989226640754,
|
|
-0.17321342069796908,
|
|
-0.027564600403575456
|
|
],
|
|
"position_mm": [
|
|
168.15989226640755,
|
|
-173.21342069796907,
|
|
-27.564600403575454
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.4885070484441769,
|
|
0.21470385188353094,
|
|
-0.027560815640928476
|
|
],
|
|
"position_mm": [
|
|
488.5070484441769,
|
|
214.70385188353094,
|
|
-27.560815640928475
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.33993865044191784,
|
|
-0.32776263973652076,
|
|
-0.028057805438464097
|
|
],
|
|
"position_mm": [
|
|
339.93865044191784,
|
|
-327.7626397365208,
|
|
-28.057805438464097
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.28445289403723323,
|
|
-0.2611837394352661,
|
|
-0.027648545950151843
|
|
],
|
|
"position_mm": [
|
|
284.45289403723325,
|
|
-261.18373943526615,
|
|
-27.648545950151842
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.5005065202257646,
|
|
0.1652597012647445,
|
|
-0.02840530352560897
|
|
],
|
|
"position_mm": [
|
|
500.5065202257646,
|
|
165.2597012647445,
|
|
-28.405303525608968
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.0473185215368602,
|
|
-0.2167764508657325,
|
|
-0.02698705107266005
|
|
],
|
|
"position_mm": [
|
|
47.318521536860196,
|
|
-216.7764508657325,
|
|
-26.987051072660048
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40208534332451473,
|
|
-0.17346600099886172,
|
|
-0.0275579487710728
|
|
],
|
|
"position_mm": [
|
|
402.0853433245147,
|
|
-173.46600099886172,
|
|
-27.5579487710728
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.019159096147549386,
|
|
-0.1896143473451365,
|
|
-0.02778482210458107
|
|
],
|
|
"position_mm": [
|
|
-19.159096147549388,
|
|
-189.61434734513648,
|
|
-27.78482210458107
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"position_m": [
|
|
0.2095972550392695,
|
|
-0.3639428787305863,
|
|
-0.028314777130944706
|
|
],
|
|
"position_mm": [
|
|
209.5972550392695,
|
|
-363.9428787305863,
|
|
-28.314777130944705
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"position_m": [
|
|
0.5755580298491249,
|
|
0.1737853253029605,
|
|
-0.028418211977248083
|
|
],
|
|
"position_mm": [
|
|
575.5580298491249,
|
|
173.7853253029605,
|
|
-28.418211977248085
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005828786692022704,
|
|
-0.27764185519536,
|
|
-0.027325551288289663
|
|
],
|
|
"position_mm": [
|
|
5.828786692022704,
|
|
-277.64185519536,
|
|
-27.325551288289663
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.44093347301088476,
|
|
0.19290408651129767,
|
|
-0.026881149401690244
|
|
],
|
|
"position_mm": [
|
|
440.93347301088477,
|
|
192.90408651129766,
|
|
-26.881149401690244
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31177494891645285,
|
|
-0.15976160980558304,
|
|
-0.02742609880624725
|
|
],
|
|
"position_mm": [
|
|
311.77494891645284,
|
|
-159.76160980558305,
|
|
-27.42609880624725
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.3615801660742926,
|
|
0.29419978242765965,
|
|
-0.027350229897493115
|
|
],
|
|
"position_mm": [
|
|
361.5801660742926,
|
|
294.19978242765967,
|
|
-27.350229897493115
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18661150476202948,
|
|
-0.2766633973391699,
|
|
-0.02682779882476644
|
|
],
|
|
"position_mm": [
|
|
186.61150476202948,
|
|
-276.6633973391699,
|
|
-26.82779882476644
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3719159483811001,
|
|
-0.18467283653972413,
|
|
-0.027505381394427424
|
|
],
|
|
"position_mm": [
|
|
371.91594838110007,
|
|
-184.67283653972413,
|
|
-27.505381394427424
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.30647239782566976,
|
|
-0.3588784772369902,
|
|
-0.02811597050066517
|
|
],
|
|
"position_mm": [
|
|
306.47239782566976,
|
|
-358.8784772369902,
|
|
-28.11597050066517
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10455211473277472,
|
|
-0.19076155499481387,
|
|
-0.027499688787852007
|
|
],
|
|
"position_mm": [
|
|
104.55211473277471,
|
|
-190.76155499481388,
|
|
-27.49968878785201
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.2718324744007435,
|
|
-0.16172465358562468,
|
|
0.23521683004461197
|
|
],
|
|
"position_mm": [
|
|
271.8324744007435,
|
|
-161.72465358562468,
|
|
235.21683004461198
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.17080407368242378,
|
|
-0.052739634452765985,
|
|
0.0905124319750469
|
|
],
|
|
"position_mm": [
|
|
170.8040736824238,
|
|
-52.73963445276598,
|
|
90.5124319750469
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.35207908638065805,
|
|
-0.08875413024789273,
|
|
0.0005436243671541405
|
|
],
|
|
"position_mm": [
|
|
352.07908638065805,
|
|
-88.75413024789273,
|
|
0.5436243671541404
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.02233765934101219,
|
|
-0.020558963283826878,
|
|
0.0016228443838442836
|
|
],
|
|
"position_mm": [
|
|
22.33765934101219,
|
|
-20.558963283826877,
|
|
1.6228443838442836
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3483790308820977,
|
|
-0.012340581406701119,
|
|
0.0007012747454650794
|
|
],
|
|
"position_mm": [
|
|
348.3790308820977,
|
|
-12.34058140670112,
|
|
0.7012747454650794
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.1670531692409411,
|
|
-0.14214829729787334,
|
|
0.08739552247380523
|
|
],
|
|
"position_mm": [
|
|
167.0531692409411,
|
|
-142.14829729787334,
|
|
87.39552247380523
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"position_m": [
|
|
0.2592099880314962,
|
|
-0.16770226418091755,
|
|
0.028400224018220403
|
|
],
|
|
"position_mm": [
|
|
259.2099880314962,
|
|
-167.70226418091755,
|
|
28.400224018220403
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.1712866788711506,
|
|
-0.17631065745324004,
|
|
0.04672172734303223
|
|
],
|
|
"position_mm": [
|
|
171.2866788711506,
|
|
-176.31065745324003,
|
|
46.721727343032235
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.2608304643991482,
|
|
-0.1767853103122226,
|
|
0.052503641894403354
|
|
],
|
|
"position_mm": [
|
|
260.8304643991482,
|
|
-176.7853103122226,
|
|
52.50364189440335
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.2269330767731386,
|
|
-0.17714832124292518,
|
|
0.05346371379901533
|
|
],
|
|
"position_mm": [
|
|
226.9330767731386,
|
|
-177.14832124292516,
|
|
53.46371379901533
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |