{ "schema_version": "1.2", "stage": "initial_triangulation", "created_utc": "2026-06-02T22:59:58Z", "summary": { "num_cameras": 3, "num_markers": 19, "num_constraints": 94 }, "cameras": [ { "camera_id": "a", "position_m": [ -0.29955195892720843, -0.7973261061142631, 0.8018813702295133 ], "position_mm": [ -299.55195892720843, -797.3261061142631, 801.8813702295133 ], "direction": [ 0.47862082719802856, 0.6562461256980896, -0.5833207368850708 ] }, { "camera_id": "c", "position_m": [ 0.31702206513417014, -0.9009856513305725, 0.39446443494699257 ], "position_mm": [ 317.02206513417013, -900.9856513305725, 394.4644349469926 ], "direction": [ -0.12359802424907684, 0.9488852620124817, -0.29041391611099243 ] }, { "camera_id": "d", "position_m": [ 0.7054014679839464, -0.7919478105063438, 0.3967113315257853 ], "position_mm": [ 705.4014679839464, -791.9478105063438, 396.7113315257853 ], "direction": [ -0.5578631162643433, 0.781220555305481, -0.28014856576919556 ] } ], "markers": [ { "marker_id": 51, "position_m": [ 0.1684217417308145, -0.17224820455762313, -0.02824727465504177 ], "position_mm": [ 168.42174173081452, -172.24820455762313, -28.24727465504177 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 58, "position_m": [ 0.04815463710561888, -0.21721033283906668, -0.0268268091255292 ], "position_mm": [ 48.15463710561888, -217.2103328390667, -26.826809125529202 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.4024829604565897, -0.17205203809593336, -0.028728159280469824 ], "position_mm": [ 402.4829604565897, -172.05203809593337, -28.728159280469825 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.019857934989005545, -0.18910578646761597, -0.027092909546203955 ], "position_mm": [ -19.857934989005546, -189.10578646761599, -27.092909546203956 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 79, "position_m": [ 0.3116090853631556, -0.15915935943684362, -0.027227014900956525 ], "position_mm": [ 311.6090853631556, -159.15935943684363, -27.227014900956526 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 95, "position_m": [ 0.18710043167181753, -0.27578512509936953, -0.02791572232053673 ], "position_mm": [ 187.10043167181752, -275.7851250993695, -27.91572232053673 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.37277093338648476, -0.18263248516797265, -0.028922291836387247 ], "position_mm": [ 372.7709333864848, -182.63248516797265, -28.922291836387245 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10444950954863705, -0.19051243947048396, -0.02740773653834077 ], "position_mm": [ 104.44950954863705, -190.51243947048397, -27.40773653834077 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 113, "position_m": [ 0.31125191332136687, -0.11686655689240194, 0.32729580158511423 ], "position_mm": [ 311.2519133213669, -116.86655689240195, 327.29580158511425 ], "link": "Arm2", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 208, "position_m": [ 0.352279531495111, -0.08919605758506315, 0.0006154569558170465 ], "position_mm": [ 352.279531495111, -89.19605758506314, 0.6154569558170465 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 211, "position_m": [ 0.2524885416230699, -0.009750143776839042, 0.0006577761161822469 ], "position_mm": [ 252.4885416230699, -9.750143776839042, 0.6577761161822469 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.3473632367877042, -0.011299844524751286, 0.0005717359990246209 ], "position_mm": [ 347.3632367877042, -11.299844524751286, 0.5717359990246209 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 215, "position_m": [ 0.2509768146626135, -0.08794711152526238, -0.00033319879794478386 ], "position_mm": [ 250.97681466261352, -87.94711152526239, -0.33319879794478385 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 218, "position_m": [ 0.264694336179231, -0.1363428809131377, 0.2625458209104202 ], "position_mm": [ 264.694336179231, -136.3428809131377, 262.5458209104202 ], "link": "Arm2", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 219, "position_m": [ 0.26155059614338816, -0.11553021735948103, 0.3686786760800038 ], "position_mm": [ 261.55059614338813, -115.53021735948103, 368.6786760800038 ], "link": "Arm2", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 232, "position_m": [ 0.2815594114950323, -0.15861266613391473, 0.12661665310045728 ], "position_mm": [ 281.5594114950323, -158.61266613391473, 126.61665310045727 ], "link": "Ellbow", "normal": [ 0.0, 0.7071067811865475, -0.7071067811865475 ] }, { "marker_id": 243, "position_m": [ 0.1911933288414206, -0.15985860303354005, 0.15396424893989755 ], "position_mm": [ 191.1933288414206, -159.85860303354005, 153.96424893989754 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 245, "position_m": [ 0.2805643813849306, -0.16039036664077924, 0.15023222846255638 ], "position_mm": [ 280.56438138493064, -160.39036664077923, 150.23222846255638 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] }, { "marker_id": 248, "position_m": [ 0.24598181830507204, -0.1602705880695732, 0.15105456259705546 ], "position_mm": [ 245.98181830507204, -160.2705880695732, 151.05456259705545 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] } ] }