{
  "schema_version": "1.2",
  "stage": "initial_triangulation",
  "created_utc": "2026-06-02T22:49:28Z",
  "summary": {
    "num_cameras": 6,
    "num_markers": 46,
    "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": "d",
      "position_m": [
        0.7059955951329147,
        -0.792357011835109,
        0.3960723600448604
      ],
      "position_mm": [
        705.9955951329147,
        -792.357011835109,
        396.07236004486043
      ],
      "direction": [
        -0.5582603812217712,
        0.781305193901062,
        -0.27911919355392456
      ]
    },
    {
      "camera_id": "f",
      "position_m": [
        0.4736207498765008,
        -0.30539278460248376,
        1.4078360695716652
      ],
      "position_mm": [
        473.62074987650084,
        -305.39278460248374,
        1407.8360695716651
      ],
      "direction": [
        -0.21933329105377197,
        0.08437186479568481,
        -0.9719949960708618
      ]
    },
    {
      "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": [
        0.6866328045193449,
        -0.31821916602968076,
        -0.026769016250150116
      ],
      "position_mm": [
        686.632804519345,
        -318.21916602968076,
        -26.769016250150116
      ],
      "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": [
        0.2844292878359246,
        -0.26136620605557626,
        -0.026928604177610893
      ],
      "position_mm": [
        284.4292878359246,
        -261.36620605557624,
        -26.928604177610893
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 56,
      "position_m": [
        0.5009008761477515,
        0.1655664108562668,
        -0.027947361922465826
      ],
      "position_mm": [
        500.9008761477515,
        165.5664108562668,
        -27.947361922465827
      ],
      "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": 61,
      "position_m": [
        -0.020761633004078593,
        0.33169424881105125,
        -0.024871515314144194
      ],
      "position_mm": [
        -20.761633004078593,
        331.69424881105124,
        -24.871515314144194
      ],
      "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": [
        0.774660455243896,
        -0.23670139930546855,
        -0.027157574030015372
      ],
      "position_mm": [
        774.6604552438961,
        -236.70139930546856,
        -27.157574030015372
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.018915420682205156,
        -0.1899255064545756,
        -0.026770246068476285
      ],
      "position_mm": [
        -18.915420682205156,
        -189.92550645457558,
        -26.770246068476286
      ],
      "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": [
        0.006606562565881499,
        -0.2780624128189378,
        -0.026849413672808038
      ],
      "position_mm": [
        6.606562565881498,
        -278.0624128189378,
        -26.849413672808037
      ],
      "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": 72,
      "position_m": [
        0.4415002881176106,
        0.19382741278969706,
        -0.02686215622532343
      ],
      "position_mm": [
        441.5002881176106,
        193.82741278969706,
        -26.86215622532343
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 73,
      "position_m": [
        0.22185199531165004,
        0.33145286649244127,
        -0.02707008044604677
      ],
      "position_mm": [
        221.85199531165003,
        331.4528664924413,
        -27.07008044604677
      ],
      "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": [
        0.3118021679213226,
        -0.1603179040169622,
        -0.02597949677272823
      ],
      "position_mm": [
        311.8021679213226,
        -160.3179040169622,
        -25.97949677272823
      ],
      "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": [
        0.18756526299418644,
        -0.27676225290486023,
        -0.027009423771606814
      ],
      "position_mm": [
        187.56526299418644,
        -276.76225290486025,
        -27.009423771606816
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.3711659651471303,
        -0.1842481518963767,
        -0.02893262052649466
      ],
      "position_mm": [
        371.1659651471303,
        -184.2481518963767,
        -28.93262052649466
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 97,
      "position_m": [
        0.30642825471706936,
        -0.3587319558565146,
        -0.026416335915144272
      ],
      "position_mm": [
        306.42825471706936,
        -358.73195585651456,
        -26.416335915144273
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 101,
      "position_m": [
        0.1150148555423096,
        0.2994849726251299,
        -0.02622369656045487
      ],
      "position_mm": [
        115.0148555423096,
        299.4849726251299,
        -26.223696560454872
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6512142337099012,
        -0.22399518472644422,
        -0.027592519297401037
      ],
      "position_mm": [
        651.2142337099011,
        -223.99518472644422,
        -27.592519297401036
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10499416413469036,
        -0.1911511899268266,
        -0.026902451512051832
      ],
      "position_mm": [
        104.99416413469035,
        -191.1511899268266,
        -26.902451512051833
      ],
      "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": [
        0.26444020273486635,
        0.03910674620444697,
        0.09323152929868699
      ],
      "position_mm": [
        264.4402027348664,
        39.10674620444697,
        93.23152929868698
      ],
      "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": [
        0.35238237108316833,
        -0.08874059137991101,
        0.0007326877907824076
      ],
      "position_mm": [
        352.3823710831683,
        -88.74059137991101,
        0.7326877907824076
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.021810821220259798,
        -0.020891445809885147,
        0.0015667697135315285
      ],
      "position_mm": [
        21.810821220259797,
        -20.89144580988515,
        1.5667697135315286
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34786115546932794,
        -0.012224747266729457,
        0.001135997095341083
      ],
      "position_mm": [
        347.86115546932797,
        -12.224747266729457,
        1.135997095341083
      ],
      "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": [
        0.24893742564566435,
        -0.1665376285696332,
        0.08451197119759063
      ],
      "position_mm": [
        248.93742564566435,
        -166.5376285696332,
        84.51197119759063
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.7071067811865475,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.1610113369008409,
        -0.17615159499742974,
        0.056445328948373875
      ],
      "position_mm": [
        161.01133690084092,
        -176.15159499742975,
        56.44532894837388
      ],
      "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
      ]
    }
  ]
}