692 lines
13 KiB
JSON
692 lines
13 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:36:00Z",
|
|
"summary": {
|
|
"num_cameras": 5,
|
|
"num_markers": 31,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.30124957039980904,
|
|
-0.7944876545661685,
|
|
0.8037787426157785
|
|
],
|
|
"position_mm": [
|
|
-301.24957039980904,
|
|
-794.4876545661685,
|
|
803.7787426157786
|
|
],
|
|
"direction": [
|
|
0.47980576753616333,
|
|
0.6539319157600403,
|
|
-0.5849440097808838
|
|
]
|
|
},
|
|
{
|
|
"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": "e",
|
|
"position_m": [
|
|
1.2047895519114378,
|
|
-0.909711288880933,
|
|
0.41070428458266445
|
|
],
|
|
"position_mm": [
|
|
1204.7895519114377,
|
|
-909.711288880933,
|
|
410.70428458266446
|
|
],
|
|
"direction": [
|
|
-0.7462964057922363,
|
|
0.608277440071106,
|
|
-0.2702595889568329
|
|
]
|
|
},
|
|
{
|
|
"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
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.21199510278645123,
|
|
-0.0814765953524563,
|
|
0.3446246170220883
|
|
],
|
|
"position_mm": [
|
|
211.99510278645124,
|
|
-81.4765953524563,
|
|
344.6246170220883
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.2672155799508664,
|
|
-0.07610269863664106,
|
|
0.3402400523098122
|
|
],
|
|
"position_mm": [
|
|
267.2155799508664,
|
|
-76.10269863664105,
|
|
340.2400523098122
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.3449768679122585,
|
|
-0.2856244719400298,
|
|
-0.03034281295692844
|
|
],
|
|
"position_mm": [
|
|
344.9768679122585,
|
|
-285.6244719400298,
|
|
-30.34281295692844
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.1677051028541299,
|
|
-0.1737709821709921,
|
|
-0.027311077938883415
|
|
],
|
|
"position_mm": [
|
|
167.7051028541299,
|
|
-173.7709821709921,
|
|
-27.311077938883415
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.3400014573697986,
|
|
-0.3291460371131607,
|
|
-0.025307732898656107
|
|
],
|
|
"position_mm": [
|
|
340.0014573697986,
|
|
-329.14603711316073,
|
|
-25.307732898656106
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2849698224611091,
|
|
-0.2605463820237696,
|
|
-0.027937001387168706
|
|
],
|
|
"position_mm": [
|
|
284.96982246110906,
|
|
-260.54638202376964,
|
|
-27.937001387168706
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.048364697471285696,
|
|
-0.2167627617455726,
|
|
-0.026807935016006996
|
|
],
|
|
"position_mm": [
|
|
48.364697471285695,
|
|
-216.7627617455726,
|
|
-26.807935016006997
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4037507256102335,
|
|
-0.17172002945591439,
|
|
-0.02857054475143477
|
|
],
|
|
"position_mm": [
|
|
403.75072561023353,
|
|
-171.72002945591439,
|
|
-28.570544751434767
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.02239377737002024,
|
|
-0.1856212691083054,
|
|
-0.029722302179456463
|
|
],
|
|
"position_mm": [
|
|
-22.39377737002024,
|
|
-185.6212691083054,
|
|
-29.722302179456463
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005110903144360068,
|
|
-0.2793335716512334,
|
|
-0.02717824418188936
|
|
],
|
|
"position_mm": [
|
|
5.110903144360068,
|
|
-279.3335716512334,
|
|
-27.178244181889358
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.4410860020907651,
|
|
0.19358032738712955,
|
|
-0.02711627586978408
|
|
],
|
|
"position_mm": [
|
|
441.0860020907651,
|
|
193.58032738712956,
|
|
-27.11627586978408
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31207126923324524,
|
|
-0.1585069136505687,
|
|
-0.02728679737516344
|
|
],
|
|
"position_mm": [
|
|
312.07126923324523,
|
|
-158.50691365056872,
|
|
-27.28679737516344
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"position_m": [
|
|
0.045262256850157535,
|
|
0.34147398057936335,
|
|
-0.027991635056466443
|
|
],
|
|
"position_mm": [
|
|
45.262256850157534,
|
|
341.47398057936334,
|
|
-27.991635056466443
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5057143736783245,
|
|
-0.31448772912668116,
|
|
-0.026988924933170795
|
|
],
|
|
"position_mm": [
|
|
505.7143736783245,
|
|
-314.48772912668113,
|
|
-26.988924933170797
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.3614308863349168,
|
|
0.2945408597078444,
|
|
-0.027535565705058083
|
|
],
|
|
"position_mm": [
|
|
361.4308863349168,
|
|
294.5408597078444,
|
|
-27.535565705058083
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18632631706522024,
|
|
-0.27569185072437785,
|
|
-0.02754064721871643
|
|
],
|
|
"position_mm": [
|
|
186.32631706522022,
|
|
-275.69185072437784,
|
|
-27.54064721871643
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.36973954156814787,
|
|
-0.18545433624423843,
|
|
-0.026464956402054242
|
|
],
|
|
"position_mm": [
|
|
369.73954156814784,
|
|
-185.45433624423842,
|
|
-26.46495640205424
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.3038917573614065,
|
|
-0.36039384879538205,
|
|
-0.023510674791166745
|
|
],
|
|
"position_mm": [
|
|
303.8917573614065,
|
|
-360.39384879538204,
|
|
-23.510674791166746
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6521068166285288,
|
|
-0.22384608897147254,
|
|
-0.02746878901810018
|
|
],
|
|
"position_mm": [
|
|
652.1068166285288,
|
|
-223.84608897147254,
|
|
-27.468789018100182
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10571487188427144,
|
|
-0.18978580050769633,
|
|
-0.027771822283506747
|
|
],
|
|
"position_mm": [
|
|
105.71487188427143,
|
|
-189.78580050769634,
|
|
-27.771822283506747
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.27194026538206933,
|
|
-0.1622338169342734,
|
|
0.23560466050912499
|
|
],
|
|
"position_mm": [
|
|
271.94026538206936,
|
|
-162.23381693427342,
|
|
235.60466050912498
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.1712388375934615,
|
|
-0.05308156663859403,
|
|
0.09078666702601076
|
|
],
|
|
"position_mm": [
|
|
171.2388375934615,
|
|
-53.081566638594026,
|
|
90.78666702601076
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.352980893211431,
|
|
-0.09177827414442535,
|
|
0.0015741009402559514
|
|
],
|
|
"position_mm": [
|
|
352.980893211431,
|
|
-91.77827414442535,
|
|
1.5741009402559514
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.021854276833415596,
|
|
-0.018541453649993628,
|
|
0.00015643285990883605
|
|
],
|
|
"position_mm": [
|
|
21.854276833415597,
|
|
-18.541453649993628,
|
|
0.15643285990883604
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.348643361455447,
|
|
-0.011900963014966891,
|
|
0.000678856133622225
|
|
],
|
|
"position_mm": [
|
|
348.643361455447,
|
|
-11.90096301496689,
|
|
0.678856133622225
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.16729814174572613,
|
|
-0.14281214336279463,
|
|
0.08505091701599905
|
|
],
|
|
"position_mm": [
|
|
167.29814174572613,
|
|
-142.81214336279464,
|
|
85.05091701599905
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"position_m": [
|
|
0.2592503680570354,
|
|
-0.1678232696559892,
|
|
0.02845921289874845
|
|
],
|
|
"position_mm": [
|
|
259.25036805703536,
|
|
-167.8232696559892,
|
|
28.459212898748447
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.17050263822482006,
|
|
-0.17383367134417224,
|
|
0.04661365731030865
|
|
],
|
|
"position_mm": [
|
|
170.50263822482006,
|
|
-173.83367134417225,
|
|
46.613657310308646
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"position_m": [
|
|
0.29623898176444546,
|
|
-0.1422445171827573,
|
|
0.04938692662103918
|
|
],
|
|
"position_mm": [
|
|
296.23898176444544,
|
|
-142.2445171827573,
|
|
49.38692662103918
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.2620663821045497,
|
|
-0.17785585656891023,
|
|
0.05313799564721043
|
|
],
|
|
"position_mm": [
|
|
262.0663821045497,
|
|
-177.85585656891024,
|
|
53.13799564721043
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.22481109286646658,
|
|
-0.17383116358728548,
|
|
0.05169740313321556
|
|
],
|
|
"position_mm": [
|
|
224.8110928664666,
|
|
-173.8311635872855,
|
|
51.69740313321556
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |