656 lines
12 KiB
JSON
656 lines
12 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-02T21:19:26Z",
|
|
"summary": {
|
|
"num_cameras": 4,
|
|
"num_markers": 30,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.29933086093117556,
|
|
-0.799418281839035,
|
|
0.8013386735184777
|
|
],
|
|
"position_mm": [
|
|
-299.33086093117555,
|
|
-799.418281839035,
|
|
801.3386735184777
|
|
],
|
|
"direction": [
|
|
0.47817692160606384,
|
|
0.6576254963874817,
|
|
-0.5821301937103271
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "b",
|
|
"position_m": [
|
|
0.3032080331514599,
|
|
-0.8954064004634189,
|
|
1.2012942891546714
|
|
],
|
|
"position_mm": [
|
|
303.2080331514599,
|
|
-895.4064004634189,
|
|
1201.2942891546713
|
|
],
|
|
"direction": [
|
|
0.005782749503850937,
|
|
0.6244387030601501,
|
|
-0.7810524106025696
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "d",
|
|
"position_m": [
|
|
0.7026420377142895,
|
|
-0.794595122683283,
|
|
0.4010946796990027
|
|
],
|
|
"position_mm": [
|
|
702.6420377142895,
|
|
-794.5951226832831,
|
|
401.0946796990027
|
|
],
|
|
"direction": [
|
|
-0.5536129474639893,
|
|
0.7829245924949646,
|
|
-0.2837987542152405
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "f",
|
|
"position_m": [
|
|
0.48447032537390755,
|
|
-0.3056860451708503,
|
|
1.4030927838623561
|
|
],
|
|
"position_mm": [
|
|
484.47032537390754,
|
|
-305.6860451708503,
|
|
1403.092783862356
|
|
],
|
|
"direction": [
|
|
-0.2268645018339157,
|
|
0.08511359244585037,
|
|
-0.9702000617980957
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 40,
|
|
"position_m": [
|
|
0.30535804316010734,
|
|
-0.2000683586434736,
|
|
0.02459227325141969
|
|
],
|
|
"position_mm": [
|
|
305.35804316010734,
|
|
-200.0683586434736,
|
|
24.592273251419687
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
-0.4224220616915755,
|
|
0.0,
|
|
-0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.3437251241398752,
|
|
-0.2880518570653535,
|
|
-0.027336175680837974
|
|
],
|
|
"position_mm": [
|
|
343.7251241398752,
|
|
-288.05185706535354,
|
|
-27.336175680837975
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16785854357163119,
|
|
-0.17315579742762638,
|
|
-0.027341000491546467
|
|
],
|
|
"position_mm": [
|
|
167.85854357163117,
|
|
-173.15579742762637,
|
|
-27.341000491546467
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.4887969373394409,
|
|
0.2151519019436198,
|
|
-0.027344778657349317
|
|
],
|
|
"position_mm": [
|
|
488.7969373394409,
|
|
215.1519019436198,
|
|
-27.344778657349316
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.3399007685346788,
|
|
-0.32741013108724015,
|
|
-0.02754239461514119
|
|
],
|
|
"position_mm": [
|
|
339.90076853467883,
|
|
-327.41013108724013,
|
|
-27.542394615141188
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.284542628458916,
|
|
-0.2609142429326301,
|
|
-0.027523444076098025
|
|
],
|
|
"position_mm": [
|
|
284.542628458916,
|
|
-260.9142429326301,
|
|
-27.523444076098023
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4016442754970195,
|
|
-0.17304360384293327,
|
|
-0.02782735644960473
|
|
],
|
|
"position_mm": [
|
|
401.64427549701946,
|
|
-173.04360384293327,
|
|
-27.82735644960473
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.01923732306315494,
|
|
-0.18910787816942473,
|
|
-0.027526791346807664
|
|
],
|
|
"position_mm": [
|
|
-19.23732306315494,
|
|
-189.10787816942474,
|
|
-27.526791346807663
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.0061112838085795994,
|
|
-0.27739722417105167,
|
|
-0.0272320047434096
|
|
],
|
|
"position_mm": [
|
|
6.111283808579599,
|
|
-277.3972241710517,
|
|
-27.232004743409597
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.4418532539715914,
|
|
0.19413790567464606,
|
|
-0.027882661763834013
|
|
],
|
|
"position_mm": [
|
|
441.8532539715914,
|
|
194.13790567464605,
|
|
-27.88266176383401
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"position_m": [
|
|
-0.027390253334127496,
|
|
0.19253937360267048,
|
|
-0.025965078296917538
|
|
],
|
|
"position_mm": [
|
|
-27.390253334127497,
|
|
192.53937360267048,
|
|
-25.96507829691754
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5063530924316049,
|
|
-0.3135538253142812,
|
|
-0.02766300592122651
|
|
],
|
|
"position_mm": [
|
|
506.35309243160486,
|
|
-313.5538253142812,
|
|
-27.66300592122651
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18712500986470557,
|
|
-0.27672814255121136,
|
|
-0.026652539900543178
|
|
],
|
|
"position_mm": [
|
|
187.12500986470556,
|
|
-276.72814255121136,
|
|
-26.65253990054318
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.30660433344953525,
|
|
-0.35825402004545726,
|
|
-0.027246402971970632
|
|
],
|
|
"position_mm": [
|
|
306.60433344953526,
|
|
-358.25402004545725,
|
|
-27.24640297197063
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6506496658425812,
|
|
-0.22406775861996026,
|
|
-0.027142007301685093
|
|
],
|
|
"position_mm": [
|
|
650.6496658425813,
|
|
-224.06775861996024,
|
|
-27.142007301685094
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10472198041479035,
|
|
-0.19055212235756008,
|
|
-0.027191118033750027
|
|
],
|
|
"position_mm": [
|
|
104.72198041479035,
|
|
-190.55212235756008,
|
|
-27.191118033750026
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.30992252595541614,
|
|
-0.15543394817886005,
|
|
0.1571013171095873
|
|
],
|
|
"position_mm": [
|
|
309.9225259554161,
|
|
-155.43394817886005,
|
|
157.1013171095873
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"position_m": [
|
|
0.7523091316145816,
|
|
-0.0908295201086147,
|
|
0.000834633856532585
|
|
],
|
|
"position_mm": [
|
|
752.3091316145816,
|
|
-90.8295201086147,
|
|
0.8346338565325849
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6500135896057839,
|
|
-0.010136006087639692,
|
|
0.00037332949430560306
|
|
],
|
|
"position_mm": [
|
|
650.013589605784,
|
|
-10.136006087639691,
|
|
0.3733294943056031
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.35272495834819445,
|
|
-0.089349745315892,
|
|
0.0010874954950881295
|
|
],
|
|
"position_mm": [
|
|
352.72495834819443,
|
|
-89.34974531589201,
|
|
1.0874954950881295
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.021586136197409667,
|
|
-0.020230171447986223,
|
|
0.0011640471470370068
|
|
],
|
|
"position_mm": [
|
|
21.58613619740967,
|
|
-20.230171447986223,
|
|
1.1640471470370068
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.25300004414982186,
|
|
-0.009074606313736522,
|
|
0.00016276608304794952
|
|
],
|
|
"position_mm": [
|
|
253.00004414982186,
|
|
-9.074606313736522,
|
|
0.1627660830479495
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.34840234712197526,
|
|
-0.012078013938502287,
|
|
0.001202886251930221
|
|
],
|
|
"position_mm": [
|
|
348.40234712197525,
|
|
-12.078013938502286,
|
|
1.202886251930221
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.25041920016634434,
|
|
-0.08847728419421877,
|
|
0.0002108696475885868
|
|
],
|
|
"position_mm": [
|
|
250.41920016634432,
|
|
-88.47728419421877,
|
|
0.21086964758858678
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"position_m": [
|
|
0.3536314171939221,
|
|
-0.09947516209694193,
|
|
0.19956923774735225
|
|
],
|
|
"position_mm": [
|
|
353.6314171939221,
|
|
-99.47516209694193,
|
|
199.56923774735225
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"position_m": [
|
|
0.3538598129079944,
|
|
-0.16723119791621946,
|
|
0.11488168558771951
|
|
],
|
|
"position_mm": [
|
|
353.8598129079944,
|
|
-167.23119791621946,
|
|
114.8816855877195
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 231,
|
|
"position_m": [
|
|
0.31814418950007245,
|
|
-0.018667115816921015,
|
|
0.31569076123152473
|
|
],
|
|
"position_mm": [
|
|
318.14418950007246,
|
|
-18.667115816921015,
|
|
315.69076123152473
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.2285719280445146,
|
|
-0.03747797453667984,
|
|
0.30564959585704154
|
|
],
|
|
"position_mm": [
|
|
228.5719280445146,
|
|
-37.47797453667984,
|
|
305.64959585704156
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"position_m": [
|
|
0.3188408154544438,
|
|
-0.04593866388972376,
|
|
0.29717193224579
|
|
],
|
|
"position_mm": [
|
|
318.8408154544438,
|
|
-45.938663889723756,
|
|
297.17193224579
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"position_m": [
|
|
0.2804963728355279,
|
|
-0.04194904038161881,
|
|
0.3018025093322513
|
|
],
|
|
"position_mm": [
|
|
280.4963728355279,
|
|
-41.949040381618815,
|
|
301.8025093322513
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
}
|
|
]
|
|
} |