{ "schema_version": "1.2", "stage": "initial_triangulation", "created_utc": "2026-06-02T23:01:00Z", "summary": { "num_cameras": 4, "num_markers": 22, "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": "d", "position_m": [ 0.7054014679839464, -0.7919478105063438, 0.3967113315257853 ], "position_mm": [ 705.4014679839464, -791.9478105063438, 396.7113315257853 ], "direction": [ -0.5578631162643433, 0.781220555305481, -0.28014856576919556 ] }, { "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": [ 0.16840192155576322, -0.17337707337689057, -0.027335354000751037 ], "position_mm": [ 168.4019215557632, -173.37707337689056, -27.33535400075104 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 53, "position_m": [ 0.4883046786127159, 0.2141668656284063, -0.027700534023391083 ], "position_mm": [ 488.3046786127159, 214.1668656284063, -27.700534023391082 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 54, "position_m": [ 0.33976510392574477, -0.32782875173156134, -0.02789434582486999 ], "position_mm": [ 339.76510392574477, -327.82875173156134, -27.89434582486999 ], "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": [ 0.4021217165979651, -0.1730647694725041, -0.02816154558242936 ], "position_mm": [ 402.1217165979651, -173.0647694725041, -28.161545582429362 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.018456891308845202, -0.190025524063342, -0.026958282815226078 ], "position_mm": [ -18.4568913088452, -190.025524063342, -26.958282815226077 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 68, "position_m": [ 0.5752058652830718, 0.17338329135149888, -0.028213186708784838 ], "position_mm": [ 575.2058652830718, 173.38329135149888, -28.21318670878484 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.0067027738987898225, -0.2778931890398071, -0.027403310027992744 ], "position_mm": [ 6.702773898789823, -277.8931890398071, -27.403310027992745 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 72, "position_m": [ 0.44120571598828817, 0.19305451359934545, -0.027433486161578712 ], "position_mm": [ 441.20571598828815, 193.05451359934546, -27.433486161578713 ], "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": 95, "position_m": [ 0.18735342754132403, -0.2766713429774124, -0.02709593134358942 ], "position_mm": [ 187.35342754132404, -276.6713429774124, -27.09593134358942 ], "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": 103, "position_m": [ 0.10516811226057994, -0.19126353680941294, -0.027017026418536337 ], "position_mm": [ 105.16811226057995, -191.26353680941293, -27.017026418536336 ], "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": [ 0.3522767284215946, -0.08929259977431503, 0.0009486420757526319 ], "position_mm": [ 352.27672842159456, -89.29259977431502, 0.9486420757526319 ], "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": [ 0.34753169466528255, -0.012186072913494543, 0.0008043987153456231 ], "position_mm": [ 347.53169466528254, -12.186072913494543, 0.8043987153456231 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 218, "position_m": [ 0.2688020936148081, -0.14284071745028884, 0.26370253207147953 ], "position_mm": [ 268.8020936148081, -142.84071745028885, 263.70253207147954 ], "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": [ 0.19099082852998864, -0.16127414625352937, 0.15512556769782754 ], "position_mm": [ 190.99082852998865, -161.27414625352938, 155.12556769782753 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 245, "position_m": [ 0.2802456179829176, -0.1622158462907791, 0.1510019001603954 ], "position_mm": [ 280.24561798291757, -162.2158462907791, 151.00190016039542 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] }, { "marker_id": 248, "position_m": [ 0.24958551902280895, -0.16549125581258234, 0.1526267985490168 ], "position_mm": [ 249.58551902280897, -165.49125581258235, 152.62679854901683 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] } ] }