276 lines
5.2 KiB
JSON
276 lines
5.2 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:17:35Z",
|
|
"summary": {
|
|
"num_cameras": 3,
|
|
"num_markers": 11,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "d",
|
|
"position_m": [
|
|
0.7053726989327014,
|
|
-0.7916993791931249,
|
|
0.39580877555507565
|
|
],
|
|
"position_mm": [
|
|
705.3726989327014,
|
|
-791.699379193125,
|
|
395.80877555507567
|
|
],
|
|
"direction": [
|
|
-0.5581956505775452,
|
|
0.7812879085540771,
|
|
-0.2792970836162567
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "f",
|
|
"position_m": [
|
|
0.4840985781070297,
|
|
-0.3107642971811879,
|
|
1.4024590280841054
|
|
],
|
|
"position_mm": [
|
|
484.0985781070297,
|
|
-310.76429718118794,
|
|
1402.4590280841053
|
|
],
|
|
"direction": [
|
|
-0.22673296928405762,
|
|
0.08821365982294083,
|
|
-0.9699538946151733
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "g",
|
|
"position_m": [
|
|
-0.2105851021647306,
|
|
0.1959402103874402,
|
|
1.396204731389063
|
|
],
|
|
"position_mm": [
|
|
-210.58510216473059,
|
|
195.9402103874402,
|
|
1396.204731389063
|
|
],
|
|
"direction": [
|
|
0.30323532223701477,
|
|
-0.29429134726524353,
|
|
-0.9063338041305542
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 44,
|
|
"position_m": [
|
|
0.23546854175173088,
|
|
-0.16998805327014815,
|
|
0.3244839898792421
|
|
],
|
|
"position_mm": [
|
|
235.46854175173087,
|
|
-169.98805327014816,
|
|
324.4839898792421
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
-0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2844569279289956,
|
|
-0.26118364447088704,
|
|
-0.028690352718946977
|
|
],
|
|
"position_mm": [
|
|
284.4569279289956,
|
|
-261.18364447088703,
|
|
-28.690352718946976
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.04933787012712134,
|
|
-0.21707460343355908,
|
|
-0.02638400554627451
|
|
],
|
|
"position_mm": [
|
|
49.33787012712134,
|
|
-217.07460343355908,
|
|
-26.384005546274512
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.022251019018283934,
|
|
-0.18785793697922498,
|
|
-0.02892704433192288
|
|
],
|
|
"position_mm": [
|
|
-22.251019018283934,
|
|
-187.85793697922497,
|
|
-28.92704433192288
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005011756394782371,
|
|
-0.27887545963520105,
|
|
-0.02779309362126566
|
|
],
|
|
"position_mm": [
|
|
5.0117563947823704,
|
|
-278.875459635201,
|
|
-27.79309362126566
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3121166050656359,
|
|
-0.15892661361279695,
|
|
-0.02649784934839987
|
|
],
|
|
"position_mm": [
|
|
312.1166050656359,
|
|
-158.92661361279696,
|
|
-26.497849348399868
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18717767368884078,
|
|
-0.27641139710061097,
|
|
-0.027196256882616458
|
|
],
|
|
"position_mm": [
|
|
187.17767368884077,
|
|
-276.41139710061094,
|
|
-27.196256882616456
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10724233527575142,
|
|
-0.19129105954951545,
|
|
-0.026469764627053347
|
|
],
|
|
"position_mm": [
|
|
107.24233527575142,
|
|
-191.29105954951544,
|
|
-26.469764627053348
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.3528334171968853,
|
|
-0.09180545991392698,
|
|
0.001718205850656229
|
|
],
|
|
"position_mm": [
|
|
352.8334171968853,
|
|
-91.80545991392698,
|
|
1.718205850656229
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3475115375944236,
|
|
-0.011987824489283615,
|
|
0.000811903532330117
|
|
],
|
|
"position_mm": [
|
|
347.5115375944236,
|
|
-11.987824489283614,
|
|
0.811903532330117
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.25039827962036737,
|
|
-0.08913082224212311,
|
|
0.0006800229750070381
|
|
],
|
|
"position_mm": [
|
|
250.39827962036736,
|
|
-89.13082224212312,
|
|
0.6800229750070381
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
}
|
|
]
|
|
} |