845 lines
16 KiB
JSON
845 lines
16 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-02T22:48:45Z",
|
|
"summary": {
|
|
"num_cameras": 5,
|
|
"num_markers": 39,
|
|
"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": "b",
|
|
"position_m": [
|
|
0.30461140290596656,
|
|
-0.8944597684480516,
|
|
1.2009159512639083
|
|
],
|
|
"position_mm": [
|
|
304.61140290596654,
|
|
-894.4597684480516,
|
|
1200.9159512639083
|
|
],
|
|
"direction": [
|
|
0.0052360002882778645,
|
|
0.6241788864135742,
|
|
-0.7812638878822327
|
|
]
|
|
},
|
|
{
|
|
"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": "e",
|
|
"position_m": [
|
|
1.2103337331165203,
|
|
-0.9172186262611701,
|
|
0.4058150319226835
|
|
],
|
|
"position_mm": [
|
|
1210.3337331165203,
|
|
-917.2186262611701,
|
|
405.8150319226835
|
|
],
|
|
"direction": [
|
|
-0.7488687634468079,
|
|
0.6081039905548096,
|
|
-0.2634483873844147
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "g",
|
|
"position_m": [
|
|
-0.20357531848645133,
|
|
0.2063757854729154,
|
|
1.4019736717044806
|
|
],
|
|
"position_mm": [
|
|
-203.57531848645132,
|
|
206.3757854729154,
|
|
1401.9736717044807
|
|
],
|
|
"direction": [
|
|
0.2981155812740326,
|
|
-0.30005064606666565,
|
|
-0.906143844127655
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.5347541299467614,
|
|
0.18217232046236165,
|
|
-0.027410503827790512
|
|
],
|
|
"position_mm": [
|
|
534.7541299467614,
|
|
182.17232046236165,
|
|
-27.410503827790514
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.3439131801504887,
|
|
-0.2879875798773456,
|
|
-0.027577885936104624
|
|
],
|
|
"position_mm": [
|
|
343.9131801504887,
|
|
-287.9875798773456,
|
|
-27.577885936104625
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6873042654854101,
|
|
-0.31907038829305645,
|
|
-0.028372045598816408
|
|
],
|
|
"position_mm": [
|
|
687.3042654854102,
|
|
-319.07038829305645,
|
|
-28.37204559881641
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 50,
|
|
"position_m": [
|
|
0.5711443949271282,
|
|
0.21159566259660412,
|
|
-0.027259882977236072
|
|
],
|
|
"position_mm": [
|
|
571.1443949271282,
|
|
211.59566259660411,
|
|
-27.25988297723607
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.1680983215798593,
|
|
-0.17312194633817068,
|
|
-0.027564179725960727
|
|
],
|
|
"position_mm": [
|
|
168.0983215798593,
|
|
-173.1219463381707,
|
|
-27.564179725960727
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.488476683266601,
|
|
0.21446444472668588,
|
|
-0.027339209955251197
|
|
],
|
|
"position_mm": [
|
|
488.47668326660096,
|
|
214.46444472668588,
|
|
-27.339209955251196
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.3402538520314031,
|
|
-0.3278512319883375,
|
|
-0.0271625063694238
|
|
],
|
|
"position_mm": [
|
|
340.25385203140314,
|
|
-327.8512319883375,
|
|
-27.1625063694238
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.28458817519009083,
|
|
-0.26082717910852765,
|
|
-0.02758802637537428
|
|
],
|
|
"position_mm": [
|
|
284.58817519009085,
|
|
-260.8271791085277,
|
|
-27.588026375374277
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.04869975355015813,
|
|
-0.21672566704951787,
|
|
-0.027588877897632227
|
|
],
|
|
"position_mm": [
|
|
48.699753550158135,
|
|
-216.72566704951788,
|
|
-27.588877897632226
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6276106018671022,
|
|
-0.2764919695524342,
|
|
-0.02713804673174997
|
|
],
|
|
"position_mm": [
|
|
627.6106018671021,
|
|
-276.4919695524342,
|
|
-27.13804673174997
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40218092308750236,
|
|
-0.17295404452444854,
|
|
-0.027897593574918094
|
|
],
|
|
"position_mm": [
|
|
402.1809230875024,
|
|
-172.95404452444853,
|
|
-27.897593574918094
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7757671114496867,
|
|
-0.23623689021565883,
|
|
-0.02761650752316203
|
|
],
|
|
"position_mm": [
|
|
775.7671114496867,
|
|
-236.23689021565883,
|
|
-27.616507523162028
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.0188333768700317,
|
|
-0.1896381709269923,
|
|
-0.02639652353334714
|
|
],
|
|
"position_mm": [
|
|
-18.8333768700317,
|
|
-189.6381709269923,
|
|
-26.39652353334714
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"position_m": [
|
|
0.5753687339106285,
|
|
0.17341375683255622,
|
|
-0.02769780518414016
|
|
],
|
|
"position_mm": [
|
|
575.3687339106285,
|
|
173.41375683255623,
|
|
-27.69780518414016
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.006364927393245974,
|
|
-0.2780223029088738,
|
|
-0.026421238719787497
|
|
],
|
|
"position_mm": [
|
|
6.364927393245974,
|
|
-278.0223029088738,
|
|
-26.421238719787496
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"position_m": [
|
|
0.7511811996630288,
|
|
-0.2852700597327098,
|
|
-0.027077280881546432
|
|
],
|
|
"position_mm": [
|
|
751.1811996630288,
|
|
-285.2700597327098,
|
|
-27.077280881546432
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"position_m": [
|
|
-0.026855392875307332,
|
|
0.19330097777414754,
|
|
-0.027016593171532457
|
|
],
|
|
"position_mm": [
|
|
-26.85539287530733,
|
|
193.30097777414753,
|
|
-27.016593171532456
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3118384775802641,
|
|
-0.1605256469185375,
|
|
-0.025891677946981988
|
|
],
|
|
"position_mm": [
|
|
311.8384775802641,
|
|
-160.5256469185375,
|
|
-25.89167794698199
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5066664328443338,
|
|
-0.3138041279718657,
|
|
-0.027310808653061746
|
|
],
|
|
"position_mm": [
|
|
506.66643284433377,
|
|
-313.8041279718657,
|
|
-27.310808653061745
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.3622287804740305,
|
|
0.29447074219533154,
|
|
-0.026875599855299078
|
|
],
|
|
"position_mm": [
|
|
362.2287804740305,
|
|
294.4707421953315,
|
|
-26.87559985529908
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6467846404117327,
|
|
-0.18683335859173195,
|
|
-0.027846239714681465
|
|
],
|
|
"position_mm": [
|
|
646.7846404117327,
|
|
-186.83335859173195,
|
|
-27.846239714681467
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18705083493047572,
|
|
-0.2771830490007753,
|
|
-0.027082779945522953
|
|
],
|
|
"position_mm": [
|
|
187.05083493047573,
|
|
-277.18304900077527,
|
|
-27.082779945522955
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3696971382533574,
|
|
-0.1861958647525948,
|
|
-0.026090091866643704
|
|
],
|
|
"position_mm": [
|
|
369.6971382533574,
|
|
-186.19586475259482,
|
|
-26.090091866643704
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.65163458137196,
|
|
-0.2236784393526702,
|
|
-0.027767996352787323
|
|
],
|
|
"position_mm": [
|
|
651.6345813719599,
|
|
-223.6784393526702,
|
|
-27.767996352787325
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10568036105692971,
|
|
-0.19089579299781254,
|
|
-0.026774015685384383
|
|
],
|
|
"position_mm": [
|
|
105.68036105692971,
|
|
-190.89579299781255,
|
|
-26.774015685384384
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"position_m": [
|
|
0.5225741297962021,
|
|
-0.2680803263614535,
|
|
-0.02725791151476129
|
|
],
|
|
"position_mm": [
|
|
522.5741297962021,
|
|
-268.0803263614535,
|
|
-27.25791151476129
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.2652195987629177,
|
|
0.039433094002757324,
|
|
0.09328388522991861
|
|
],
|
|
"position_mm": [
|
|
265.21959876291766,
|
|
39.43309400275732,
|
|
93.28388522991861
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.16138472253299735,
|
|
-0.05115724951411527,
|
|
0.09571104716051437
|
|
],
|
|
"position_mm": [
|
|
161.38472253299736,
|
|
-51.15724951411527,
|
|
95.71104716051437
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"position_m": [
|
|
0.7526599184297367,
|
|
-0.09004789708299678,
|
|
-0.0002898968297714498
|
|
],
|
|
"position_mm": [
|
|
752.6599184297366,
|
|
-90.04789708299678,
|
|
-0.28989682977144976
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6508013074071543,
|
|
-0.009714950398807508,
|
|
-0.00037141069822215725
|
|
],
|
|
"position_mm": [
|
|
650.8013074071542,
|
|
-9.714950398807508,
|
|
-0.3714106982221573
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 207,
|
|
"position_m": [
|
|
0.753070826323901,
|
|
-0.01166823186109379,
|
|
-0.00011262495657608482
|
|
],
|
|
"position_mm": [
|
|
753.070826323901,
|
|
-11.668231861093789,
|
|
-0.11262495657608482
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.3527216850265972,
|
|
-0.08891065430778358,
|
|
-5.410926924945826e-05
|
|
],
|
|
"position_mm": [
|
|
352.7216850265972,
|
|
-88.91065430778359,
|
|
-0.05410926924945826
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.022347519073178043,
|
|
-0.019567726187955662,
|
|
-1.654353997566445e-05
|
|
],
|
|
"position_mm": [
|
|
22.34751907317804,
|
|
-19.56772618795566,
|
|
-0.01654353997566445
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.6467407494709357,
|
|
-0.08896091007300884,
|
|
-0.0005022020934274252
|
|
],
|
|
"position_mm": [
|
|
646.7407494709357,
|
|
-88.96091007300883,
|
|
-0.5022020934274252
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.15763201149701905,
|
|
-0.14080992726417438,
|
|
0.09603065098433594
|
|
],
|
|
"position_mm": [
|
|
157.63201149701905,
|
|
-140.80992726417438,
|
|
96.03065098433594
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"position_m": [
|
|
0.24625483667773504,
|
|
-0.1630607798756077,
|
|
0.079447173726922
|
|
],
|
|
"position_mm": [
|
|
246.25483667773503,
|
|
-163.0607798756077,
|
|
79.447173726922
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.15790167995229576,
|
|
-0.18088828633113066,
|
|
0.05993503064087538
|
|
],
|
|
"position_mm": [
|
|
157.90167995229575,
|
|
-180.88828633113067,
|
|
59.93503064087538
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.24849597358889086,
|
|
-0.14405220258471174,
|
|
0.0946625042543106
|
|
],
|
|
"position_mm": [
|
|
248.49597358889085,
|
|
-144.05220258471175,
|
|
94.66250425431059
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.21642001284261336,
|
|
-0.1425635595341885,
|
|
0.09561835721125621
|
|
],
|
|
"position_mm": [
|
|
216.42001284261337,
|
|
-142.5635595341885,
|
|
95.61835721125621
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |