{ "schema_version": "1.2", "created_utc": "2026-06-02T22:59:37Z", "summary": { "num_cameras": 3, "num_markers": 15, "num_constraints": 94 }, "cameras": [ { "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": "f", "position_m": [ 0.48085701508868617, -0.3026928145345371, 1.4042255506450263 ], "position_mm": [ 480.8570150886862, -302.6928145345371, 1404.2255506450263 ], "direction": [ -0.22449733316898346, 0.08296965062618256, -0.970936119556427 ] }, { "camera_id": "g", "position_m": [ -0.20541655013425003, 0.20379753805366085, 1.3985639899421838 ], "position_mm": [ -205.41655013425003, 203.79753805366084, 1398.5639899421838 ], "direction": [ 0.2998085618019104, -0.2990388870239258, -0.9059197306632996 ] } ], "markers": [ { "marker_id": 51, "position_m": [ 0.1680489092329588, -0.17363401023647437, -0.02731758626645066 ], "position_mm": [ 168.04890923295878, -173.63401023647438, -27.31758626645066 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 53, "position_m": [ 0.4868798022500869, 0.21343506339400156, -0.025397995204694494 ], "position_mm": [ 486.8798022500869, 213.43506339400156, -25.397995204694492 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 54, "position_m": [ 0.3397773556366988, -0.3278126547627323, -0.02789641953586024 ], "position_mm": [ 339.7773556366988, -327.8126547627323, -27.89641953586024 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 58, "position_m": [ 0.049982757634588024, -0.21943915768703395, -0.024644916484641136 ], "position_mm": [ 49.982757634588026, -219.43915768703394, -24.644916484641136 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.4035252309685641, -0.1701342980890506, -0.030188387000512525 ], "position_mm": [ 403.5252309685641, -170.1342980890506, -30.188387000512524 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.02065018573274219, -0.18798420257844503, -0.027218757273153402 ], "position_mm": [ -20.65018573274219, -187.98420257844504, -27.218757273153404 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 68, "position_m": [ 0.5752588912069804, 0.1734548013449935, -0.02818895365417545 ], "position_mm": [ 575.2588912069804, 173.45480134499348, -28.18895365417545 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.004578462259231485, -0.2799727731358317, -0.032409140835254695 ], "position_mm": [ 4.578462259231485, -279.9727731358317, -32.409140835254696 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 72, "position_m": [ 0.4425241000861605, 0.19375985134574, -0.029278014382042958 ], "position_mm": [ 442.5241000861605, 193.75985134574, -29.278014382042958 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 79, "position_m": [ 0.3125462625478133, -0.1605835866458249, -0.027218442669082195 ], "position_mm": [ 312.54626254781334, -160.58358664582488, -27.218442669082194 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.3707617563001939, -0.18632855696782663, -0.026429196825076388 ], "position_mm": [ 370.76175630019395, -186.32855696782664, -26.42919682507639 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10624857666227201, -0.19037288912838163, -0.027299619891485074 ], "position_mm": [ 106.24857666227201, -190.37288912838162, -27.299619891485072 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.34746957385173405, -0.012179960939955164, 0.0008097431824681832 ], "position_mm": [ 347.469573851734, -12.179960939955164, 0.8097431824681832 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 243, "position_m": [ 0.19316409288709813, -0.1610381040211642, 0.15461997829517143 ], "position_mm": [ 193.16409288709812, -161.0381040211642, 154.61997829517142 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 245, "position_m": [ 0.28268679015000425, -0.1622084190116163, 0.1505873671740287 ], "position_mm": [ 282.68679015000424, -162.20841901161631, 150.5873671740287 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] } ] }