692 lines
13 KiB
JSON
692 lines
13 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:20:23Z",
|
|
"summary": {
|
|
"num_cameras": 5,
|
|
"num_markers": 31,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.3008120456617256,
|
|
-0.7967324976921262,
|
|
0.8035603940327218
|
|
],
|
|
"position_mm": [
|
|
-300.8120456617256,
|
|
-796.7324976921261,
|
|
803.5603940327219
|
|
],
|
|
"direction": [
|
|
0.478861004114151,
|
|
0.6553303003311157,
|
|
-0.5841526389122009
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "b",
|
|
"position_m": [
|
|
0.3032776168602546,
|
|
-0.9034907966109161,
|
|
1.1914760495863213
|
|
],
|
|
"position_mm": [
|
|
303.2776168602546,
|
|
-903.4907966109162,
|
|
1191.4760495863213
|
|
],
|
|
"direction": [
|
|
0.005841582547873259,
|
|
0.630989134311676,
|
|
-0.7757696509361267
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "c",
|
|
"position_m": [
|
|
0.31352477320154787,
|
|
-0.900364134663362,
|
|
0.395486087669763
|
|
],
|
|
"position_mm": [
|
|
313.5247732015479,
|
|
-900.3641346633619,
|
|
395.48608766976304
|
|
],
|
|
"direction": [
|
|
-0.12002504616975784,
|
|
0.9488678574562073,
|
|
-0.2919653058052063
|
|
]
|
|
},
|
|
{
|
|
"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": 40,
|
|
"position_m": [
|
|
0.2736138109723925,
|
|
-0.14469743902281243,
|
|
0.35225377130166674
|
|
],
|
|
"position_mm": [
|
|
273.6138109723925,
|
|
-144.69743902281243,
|
|
352.25377130166675
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
-0.4224220616915755,
|
|
0.0,
|
|
-0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 44,
|
|
"position_m": [
|
|
0.23772237071329072,
|
|
-0.17042987693182463,
|
|
0.32593846218561967
|
|
],
|
|
"position_mm": [
|
|
237.72237071329073,
|
|
-170.42987693182462,
|
|
325.9384621856197
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
-0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.34527624447068156,
|
|
-0.28501487690218885,
|
|
-0.03160848605728249
|
|
],
|
|
"position_mm": [
|
|
345.27624447068155,
|
|
-285.01487690218886,
|
|
-31.60848605728249
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.1679869213898658,
|
|
-0.17431334427026263,
|
|
-0.02701803536229818
|
|
],
|
|
"position_mm": [
|
|
167.98692138986578,
|
|
-174.31334427026263,
|
|
-27.018035362298182
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.34008216465826285,
|
|
-0.32846971176225853,
|
|
-0.02622919801914117
|
|
],
|
|
"position_mm": [
|
|
340.08216465826285,
|
|
-328.46971176225856,
|
|
-26.22919801914117
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2849637310232282,
|
|
-0.26081943945311853,
|
|
-0.02806906459070152
|
|
],
|
|
"position_mm": [
|
|
284.9637310232282,
|
|
-260.81943945311855,
|
|
-28.06906459070152
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.049689343950900064,
|
|
-0.21869385895748708,
|
|
-0.02487772051436016
|
|
],
|
|
"position_mm": [
|
|
49.68934395090007,
|
|
-218.6938589574871,
|
|
-24.87772051436016
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6265358459060137,
|
|
-0.27652044316357194,
|
|
-0.026705237397329273
|
|
],
|
|
"position_mm": [
|
|
626.5358459060137,
|
|
-276.52044316357194,
|
|
-26.705237397329274
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40390234868223923,
|
|
-0.17022599963306526,
|
|
-0.029923162737635588
|
|
],
|
|
"position_mm": [
|
|
403.9023486822392,
|
|
-170.22599963306524,
|
|
-29.923162737635586
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.021028642314276917,
|
|
-0.18748164971260214,
|
|
-0.02801010473785849
|
|
],
|
|
"position_mm": [
|
|
-21.02864231427692,
|
|
-187.48164971260215,
|
|
-28.01010473785849
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.004841424100479262,
|
|
-0.27994163601027877,
|
|
-0.029726755656886827
|
|
],
|
|
"position_mm": [
|
|
4.841424100479261,
|
|
-279.9416360102788,
|
|
-29.726755656886827
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31246033587197797,
|
|
-0.15866174826160656,
|
|
-0.028030031579065386
|
|
],
|
|
"position_mm": [
|
|
312.460335871978,
|
|
-158.66174826160656,
|
|
-28.030031579065387
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"position_m": [
|
|
0.2181443720306789,
|
|
0.29696824748018913,
|
|
-0.028246244823344525
|
|
],
|
|
"position_mm": [
|
|
218.1443720306789,
|
|
296.9682474801891,
|
|
-28.246244823344526
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"position_m": [
|
|
0.04474497275583554,
|
|
0.34166359373657895,
|
|
-0.02774746888765951
|
|
],
|
|
"position_mm": [
|
|
44.74497275583554,
|
|
341.66359373657895,
|
|
-27.747468887659508
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5060346120746566,
|
|
-0.31359755689699353,
|
|
-0.027110573861126537
|
|
],
|
|
"position_mm": [
|
|
506.0346120746566,
|
|
-313.5975568969935,
|
|
-27.110573861126536
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6458427669179976,
|
|
-0.18755150408987137,
|
|
-0.02629364691206183
|
|
],
|
|
"position_mm": [
|
|
645.8427669179976,
|
|
-187.55150408987137,
|
|
-26.293646912061828
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18669327561623747,
|
|
-0.27621225953329703,
|
|
-0.028179172204999017
|
|
],
|
|
"position_mm": [
|
|
186.69327561623746,
|
|
-276.212259533297,
|
|
-28.179172204999016
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3704087661144628,
|
|
-0.18498135710440658,
|
|
-0.026715687333078993
|
|
],
|
|
"position_mm": [
|
|
370.40876611446276,
|
|
-184.98135710440658,
|
|
-26.715687333078993
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.3043793252027631,
|
|
-0.3601685150856148,
|
|
-0.02421399939691149
|
|
],
|
|
"position_mm": [
|
|
304.37932520276314,
|
|
-360.16851508561484,
|
|
-24.21399939691149
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10577911253979165,
|
|
-0.18939415207884355,
|
|
-0.028510026231287976
|
|
],
|
|
"position_mm": [
|
|
105.77911253979165,
|
|
-189.39415207884355,
|
|
-28.510026231287977
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 115,
|
|
"position_m": [
|
|
0.2144905803974887,
|
|
-0.15808516595946415,
|
|
0.23516874230999252
|
|
],
|
|
"position_mm": [
|
|
214.49058039748869,
|
|
-158.08516595946415,
|
|
235.16874230999252
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 120,
|
|
"position_m": [
|
|
0.2635384421804508,
|
|
-0.154773504489058,
|
|
0.16557286388067727
|
|
],
|
|
"position_mm": [
|
|
263.53844218045083,
|
|
-154.77350448905798,
|
|
165.57286388067726
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.1396270364378627,
|
|
-0.0524899250397523,
|
|
0.09134345921232205
|
|
],
|
|
"position_mm": [
|
|
139.6270364378627,
|
|
-52.4899250397523,
|
|
91.34345921232205
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.3519547245295015,
|
|
-0.09109356522907473,
|
|
0.0008487372861281935
|
|
],
|
|
"position_mm": [
|
|
351.9547245295015,
|
|
-91.09356522907473,
|
|
0.8487372861281935
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.02107942943506401,
|
|
-0.01971182351463657,
|
|
0.001084469380551342
|
|
],
|
|
"position_mm": [
|
|
21.07942943506401,
|
|
-19.71182351463657,
|
|
1.084469380551342
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3476372484642664,
|
|
-0.011214553196923636,
|
|
1.19739241498694e-05
|
|
],
|
|
"position_mm": [
|
|
347.6372484642664,
|
|
-11.214553196923635,
|
|
0.0119739241498694
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.25020705615055344,
|
|
-0.08961672193992853,
|
|
-0.0001632780465076588
|
|
],
|
|
"position_mm": [
|
|
250.20705615055346,
|
|
-89.61672193992854,
|
|
-0.1632780465076588
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.1378489665845727,
|
|
-0.14225667542102993,
|
|
0.08511736211727833
|
|
],
|
|
"position_mm": [
|
|
137.8489665845727,
|
|
-142.25667542102994,
|
|
85.11736211727833
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.1411966467540963,
|
|
-0.17158671156506314,
|
|
0.04538624978131819
|
|
],
|
|
"position_mm": [
|
|
141.1966467540963,
|
|
-171.58671156506313,
|
|
45.386249781318185
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.23285246896106937,
|
|
-0.17637971167016256,
|
|
0.05181127705394777
|
|
],
|
|
"position_mm": [
|
|
232.85246896106938,
|
|
-176.37971167016255,
|
|
51.81127705394777
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.1957280985250745,
|
|
-0.17141967300190908,
|
|
0.04996411082850516
|
|
],
|
|
"position_mm": [
|
|
195.7280985250745,
|
|
-171.41967300190908,
|
|
49.964110828505156
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |