{ "schema_version": "1.2", "stage": "initial_triangulation", "created_utc": "2026-06-02T23:00:36Z", "summary": { "num_cameras": 4, "num_markers": 30, "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": "e", "position_m": [ 1.2003205157992303, -0.9051194632262202, 0.40226793640946296 ], "position_mm": [ 1200.3205157992302, -905.1194632262202, 402.26793640946295 ], "direction": [ -0.7470906376838684, 0.6093959212303162, -0.26550355553627014 ] }, { "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 ] } ], "markers": [ { "marker_id": 47, "position_m": [ 0.3434549533813462, -0.28813967853178374, -0.027315445712020683 ], "position_mm": [ 343.4549533813462, -288.1396785317837, -27.315445712020683 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 51, "position_m": [ 0.16840192155576322, -0.17337707337689057, -0.027335354000751037 ], "position_mm": [ 168.4019215557632, -173.37707337689056, -27.33535400075104 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 54, "position_m": [ 0.3397289727944117, -0.327477610948532, -0.027187841827466683 ], "position_mm": [ 339.72897279441173, -327.477610948532, -27.187841827466684 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 55, "position_m": [ 0.2844103280274146, -0.26073972886626917, -0.027278721837986616 ], "position_mm": [ 284.4103280274146, -260.73972886626916, -27.278721837986616 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 58, "position_m": [ 0.047585194365194185, -0.21632314961273078, -0.027187528797273527 ], "position_mm": [ 47.585194365194184, -216.3231496127308, -27.187528797273526 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.4018158052095484, -0.17254949833116415, -0.027637388062597756 ], "position_mm": [ 401.8158052095484, -172.54949833116416, -27.637388062597754 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.018331242036563843, -0.1888678445588667, -0.02700189968645919 ], "position_mm": [ -18.331242036563843, -188.86784455886672, -27.00189968645919 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 66, "position_m": [ 0.20973171859279857, -0.36364694200408465, -0.027239526476849428 ], "position_mm": [ 209.73171859279856, -363.6469420040846, -27.239526476849427 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 72, "position_m": [ 0.44158413112442074, 0.19420064921928268, -0.02810417918567924 ], "position_mm": [ 441.58413112442076, 194.20064921928267, -28.10417918567924 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 75, "position_m": [ -0.027269075538657258, 0.1919859059408862, -0.026805718469614458 ], "position_mm": [ -27.26907553865726, 191.9859059408862, -26.805718469614458 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 79, "position_m": [ 0.31179117488803276, -0.15951234701714542, -0.027866865515992996 ], "position_mm": [ 311.79117488803274, -159.51234701714543, -27.866865515992995 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 83, "position_m": [ 0.04569169372080601, 0.34056990722960356, -0.02703535513995095 ], "position_mm": [ 45.69169372080601, 340.5699072296036, -27.03535513995095 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 85, "position_m": [ 0.5061412187578819, -0.3136684966435744, -0.027232339632906485 ], "position_mm": [ 506.14121875788186, -313.6684966435744, -27.232339632906484 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 92, "position_m": [ 0.6466186784921585, -0.18666183140353887, -0.02753626863468672 ], "position_mm": [ 646.6186784921584, -186.66183140353888, -27.53626863468672 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 95, "position_m": [ 0.18657828451429817, -0.27646332460929285, -0.027281220237589783 ], "position_mm": [ 186.57828451429816, -276.46332460929284, -27.281220237589782 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.37228139768193613, -0.1844101964268814, -0.027747663088679396 ], "position_mm": [ 372.28139768193614, -184.41019642688138, -27.747663088679396 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 97, "position_m": [ 0.30648708943008246, -0.3585049191425899, -0.02688710577745693 ], "position_mm": [ 306.48708943008245, -358.5049191425899, -26.88710577745693 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 102, "position_m": [ 0.6512960312912819, -0.2237508795634906, -0.027453948670826796 ], "position_mm": [ 651.2960312912819, -223.7508795634906, -27.453948670826797 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10474955848038035, -0.18990336823000478, -0.027591541071895712 ], "position_mm": [ 104.74955848038036, -189.9033682300048, -27.591541071895712 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 113, "position_m": [ 0.31117019429477416, -0.11408234053228995, 0.3287726295266156 ], "position_mm": [ 311.17019429477415, -114.08234053228995, 328.7726295266156 ], "link": "Arm2", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 206, "position_m": [ 0.6509209686728387, -0.00916668071397879, -9.078351684511015e-05 ], "position_mm": [ 650.9209686728386, -9.166680713978788, -0.09078351684511016 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 208, "position_m": [ 0.35208631150987363, -0.08937142637637625, 0.0004543603379828582 ], "position_mm": [ 352.0863115098736, -89.37142637637625, 0.4543603379828582 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 210, "position_m": [ 0.02171256703813408, -0.02053817861547794, 0.0009381663408808204 ], "position_mm": [ 21.712567038134083, -20.53817861547794, 0.9381663408808204 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.3485588484634568, -0.011297509890123953, 0.0006472667819514932 ], "position_mm": [ 348.5588484634568, -11.297509890123953, 0.6472667819514932 ], "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": [ 0.2676449502217065, -0.13333924597963917, 0.26152627465353834 ], "position_mm": [ 267.6449502217065, -133.33924597963917, 261.52627465353834 ], "link": "Arm2", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 229, "position_m": [ 0.18464409549307326, -0.1145495137111058, 0.18119995268318081 ], "position_mm": [ 184.64409549307325, -114.5495137111058, 181.1999526831808 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 243, "position_m": [ 0.19077467705928908, -0.16026216180771793, 0.15524526816203996 ], "position_mm": [ 190.77467705928908, -160.26216180771794, 155.24526816203996 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 245, "position_m": [ 0.27980174996160617, -0.1610946353298873, 0.15157792794818553 ], "position_mm": [ 279.80174996160616, -161.0946353298873, 151.57792794818553 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] }, { "marker_id": 248, "position_m": [ 0.2454973962388931, -0.16067820959041496, 0.15235647342784725 ], "position_mm": [ 245.49739623889312, -160.67820959041495, 152.35647342784725 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] } ] }