marker_id,link,set,num_cameras,x_mm,y_mm,z_mm,nx,ny,nz,model_x_mm,model_y_mm,model_z_mm,dist_to_model_mm,delta_z_mm,edge_length_mm
0,unknown,,3,505.79,-100.06,-8.17,0.00654,-0.01478,0.99987,,,,,,23.71
46,Board,A0,2,537.9,185.52,-27.5,0.0061,0.00117,0.99998,537.44,185.2,-27.2,0.638,-0.305,23.83
47,Board,A0,3,343.34,-286.18,-27.52,-0.00826,0.02432,0.99967,343.18,-286.05,-27.49,0.21,-0.034,24.1
50,Board,A0,3,574.64,211.77,-27.34,0.00242,0.0109,0.99994,574.23,211.48,-27.15,0.539,-0.186,24.07
51,Board,A0,3,166.89,-171.06,-27.49,-0.04142,0.00081,0.99914,167.18,-170.93,-27.76,0.417,0.272,24.2
53,Board,A0,3,487.16,212.93,-27.58,0.06677,0.02171,0.99753,487.08,212.19,-27.28,0.798,-0.296,23.92
54,Board,A0,3,341.31,-330.18,-27.55,-0.01014,0.01262,0.99987,341.05,-330.09,-27.5,0.275,-0.049,24.21
55,Arm1,A0,3,282.71,-261.9,-26.63,-0.03413,0.00638,0.9994,,,,,,24.37
56,Arm1,A0,2,500.02,169.42,-27.88,-0.01336,0.00216,0.99991,,,,,,23.7
58,Board,A0,3,48.69,-216.76,-27.87,-0.0193,0.00188,0.99981,49.3,-216.52,-27.93,0.658,0.059,24.44
60,Board,A0,2,435.69,286.11,-29.34,-0.04419,0.06927,0.99662,435.46,283.95,-27.36,2.937,-1.981,24.83
62,Board,A0,3,404.22,-174.75,-27.14,0.00893,-0.00881,0.99992,404.07,-174.84,-27.4,0.313,0.259,23.96
64,Board,A0,2,-22.33,-187.15,-26.56,0.02977,0.00062,0.99956,-21.95,-186.37,-28.04,1.719,1.484,23.66
66,Board,A0,2,207.97,-362.78,-28.65,-0.08,0.0928,0.99247,208.41,-362.24,-27.7,1.18,-0.951,25.14
67,Board,A0,2,524.61,268.02,-28.51,-0.0163,-0.00123,0.99987,524.1,266.85,-27.22,1.818,-1.29,23.6
68,Board,A0,3,575.05,170.15,-27.14,0.01722,0.03205,0.99934,574.4,170.26,-27.15,0.663,0.006,24.1
69,Board,A0,2,6.91,-280.99,-27.23,-0.00089,0.03112,0.99952,6.58,-279.46,-28,1.744,0.77,24.07
70,Board,A0,2,603.56,300.57,-28.34,-0.06715,0.04327,0.9968,603.03,299.84,-27.11,1.527,-1.233,23.99
73,Board,A0,2,222.01,337.1,-29.9,-0.0437,0.11256,0.99268,223.01,334.05,-27.67,3.914,-2.235,25.6
75,Board,A0,2,-27.07,199.16,-28.78,-0.06027,0.14192,0.98804,-24.94,196.46,-28.04,3.523,-0.736,26.71
76,Board,A0,2,686.17,164.68,-26.47,-0.08323,0.00998,0.99648,685.86,166,-26.98,1.45,0.514,23.85
77,Arm1,A0,2,17.53,194.86,-28.25,-0.02333,0.14876,0.9886,,,,,,26.07
79,Board,A0,2,311.53,-157.96,-26.95,0.02919,-0.01163,0.99951,311.73,-158.5,-27.54,0.827,0.59,24.03
82,Board,A0,2,219.4,300.84,-30.04,0.00365,0.102,0.99478,220.31,298.19,-27.68,3.663,-2.363,25.25
85,Board,A0,3,504.05,-313.36,-27.37,-0.00147,-0.03538,0.99937,503.43,-312.87,-27.25,0.799,-0.124,24.1
88,Board,A0,2,767.2,313.41,-25.61,0.05089,-0.00066,0.9987,767.09,314.94,-26.86,1.978,1.252,23.68
90,Board,A0,2,644.9,315.86,-27.76,-0.00476,-0.03483,0.99938,644.39,315.79,-27.04,0.882,-0.718,23.64
91,Board,A0,2,725.06,326.79,-26.9,-0.04318,-0.00677,0.99904,724.61,327.11,-26.92,0.553,0.023,23.76
92,Board,A0,2,644.97,-186.59,-26.03,0.03072,-0.01393,0.99943,644.42,-185.49,-27.04,1.592,1.007,24.18
94,Board,A0,2,875.22,168.95,-22.69,0.07264,0.05485,0.99585,876.38,172.13,-26.7,5.244,4.006,24.44
95,Board,A0,3,184.79,-273.16,-27.83,-0.00258,0.02727,0.99962,185.04,-272.99,-27.73,0.315,-0.097,24.35
96,Board,A0,3,369.18,-185.71,-27.51,0.02262,0.01808,0.99958,369.1,-186.1,-27.46,0.4,-0.049,24.16
97,Board,A0,2,303.36,-359.54,-26.35,-0.00502,0.02288,0.99973,303.02,-359.03,-27.55,1.344,1.197,24.46
98,Board,A0,2,577.15,315.74,-29.24,-0.02274,0.04433,0.99876,576.48,314.67,-27.15,2.445,-2.094,24.33
100,Board,A0,2,803.8,169.01,-24.93,0.01883,-0.01657,0.99969,803.92,171.12,-26.81,2.829,1.882,23.24
103,Board,A0,3,104.64,-186.37,-27.12,-0.00058,0.0069,0.99998,105.03,-186.33,-27.85,0.825,0.726,24.45
104,Board,A0,2,827.17,235.41,-24.77,0.08284,0.04199,0.99568,827.64,237.83,-26.77,3.174,1.996,24.77
105,Board,A0,3,524.5,-266.88,-27.45,-0.00083,0.01085,0.99994,523.86,-266.44,-27.22,0.811,-0.234,24.19
118,unknown,,3,323.07,-174.22,47.26,0.01395,-0.99423,0.10635,,,,,,24.41
122,Ellbow,,3,360.07,-173.45,46.18,0.01114,-0.99429,0.10615,,,,,,24.51
143,Arm2,,2,339.81,-138.06,229.48,-0.73183,-0.67663,0.08126,,,,,,24.18
144,Arm2,,3,362.95,-156.86,158.05,-0.03961,-0.99309,0.11048,,,,,,24.37
147,FingerA,,3,382.82,-143.67,226.6,0.42827,-0.9012,0.06646,,,,,,24.01
148,Arm2,,3,366.84,-142.43,264.66,-0.04437,-0.99493,0.09027,,,,,,24.39
178,FingerB,,2,287.31,-120.45,315.29,-0.66387,-0.73035,-0.1608,,,,,,22.88
179,FingerB,,2,329.61,-140.32,313.07,-0.6954,-0.15177,0.70241,,,,,,26.39
198,Arm1,,2,268.82,-53.79,84.52,0.01757,0.02587,0.99951,,,,,,24.56
200,unknown,,2,199.61,-28.62,110.03,-0.06794,-0.01026,0.99764,,,,,,23.25
204,unknown,,2,198.89,116.09,120.31,0.05577,0.03761,0.99774,,,,,,24.15
208,Board,rail,3,626.32,-98.56,-6.78,0.00383,-0.01334,0.9999,631.01,-98.43,-7.71,4.781,0.93,23.72
210,Board,rail,2,129.76,-7.26,-6.27,0.028,0.01002,0.99956,122.63,-13.98,-0.72,11.263,-5.553,23.35
214,unknown,,3,532.15,-7.88,-7.33,-0.02081,0.05531,0.99825,,,,,,24.05
217,Board,rail,2,730.24,-8.43,-5.0,-0.01833,-0.01881,0.99966,732.39,-23.88,7.39,19.917,-12.387,23.61
229,Arm1,,3,271.15,-142.19,79.27,0.01827,-0.03009,0.99938,,,,,,24.04
243,Arm1,,3,270.52,-175.76,42.77,0.0038,-0.99933,-0.03654,,,,,,24.16

camera_id,x_mm,y_mm,z_mm,dir_x,dir_y,dir_z
cam0,335.07,-885.3,469.64,-0.06533,0.89189,-0.44751
cam1,297.15,-462.72,780.65,0.09465,0.43305,-0.89639
cam2,714.94,-666.29,727.22,-0.42921,0.59338,-0.68094