{
  "schema_version": "1.2",
  "stage": "initial_triangulation",
  "created_utc": "2026-06-03T04:22:58Z",
  "summary": {
    "num_cameras": 3,
    "num_markers": 19,
    "num_constraints": 94
  },
  "cameras": [
    {
      "camera_id": "a",
      "position_m": [
        -0.2999039553024492,
        -0.7966331104538593,
        0.8022965428228306
      ],
      "position_mm": [
        -299.90395530244916,
        -796.6331104538593,
        802.2965428228306
      ],
      "direction": [
        0.4790363907814026,
        0.655602753162384,
        -0.5837029814720154
      ]
    },
    {
      "camera_id": "b",
      "position_m": [
        0.2997741245358298,
        -0.8919452713410032,
        1.1998563182979443
      ],
      "position_mm": [
        299.7741245358298,
        -891.9452713410033,
        1199.8563182979442
      ],
      "direction": [
        0.008538469672203064,
        0.6230279803276062,
        -0.7821529507637024
      ]
    },
    {
      "camera_id": "f",
      "position_m": [
        0.48527535699969704,
        -0.3052028540305418,
        1.4031193543203273
      ],
      "position_mm": [
        485.275356999697,
        -305.2028540305418,
        1403.1193543203274
      ],
      "direction": [
        -0.22739066183567047,
        0.08463967591524124,
        -0.9701183438301086
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 41,
      "position_m": [
        0.2555653846088795,
        -0.1456931004382793,
        0.34730110313557105
      ],
      "position_mm": [
        255.5653846088795,
        -145.6931004382793,
        347.30110313557105
      ],
      "link": "FingerA",
      "normal": [
        0.0,
        -0.9375276894468237,
        0.34791066600565723
      ]
    },
    {
      "marker_id": 47,
      "position_m": [
        0.34367054802444236,
        -0.28830294759784697,
        -0.02738273197870817
      ],
      "position_mm": [
        343.6705480244424,
        -288.302947597847,
        -27.382731978708172
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.3397876228608639,
        -0.32779487471781543,
        -0.027053335601234168
      ],
      "position_mm": [
        339.7876228608639,
        -327.79487471781545,
        -27.053335601234167
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.28453977860777613,
        -0.2609482631193146,
        -0.027214362191835005
      ],
      "position_mm": [
        284.53977860777616,
        -260.9482631193146,
        -27.214362191835004
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.4018145130459961,
        -0.17319252727193932,
        -0.027589558334462323
      ],
      "position_mm": [
        401.8145130459961,
        -173.19252727193933,
        -27.58955833446232
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.00629834710712339,
        -0.2775786929233091,
        -0.028277932280186126
      ],
      "position_mm": [
        6.29834710712339,
        -277.5786929233091,
        -28.277932280186125
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.31135191226832415,
        -0.15965807231795717,
        -0.027299344254828647
      ],
      "position_mm": [
        311.35191226832416,
        -159.65807231795716,
        -27.299344254828647
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5066294917532133,
        -0.31351810446589856,
        -0.0273469943710427
      ],
      "position_mm": [
        506.62949175321324,
        -313.51810446589855,
        -27.3469943710427
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 86,
      "position_m": [
        0.36299986390802214,
        0.29641368797695294,
        -0.02872683171065148
      ],
      "position_mm": [
        362.9998639080221,
        296.41368797695293,
        -28.72683171065148
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 92,
      "position_m": [
        0.6469113677874619,
        -0.18733220503899006,
        -0.02740084233977019
      ],
      "position_mm": [
        646.9113677874619,
        -187.33220503899005,
        -27.40084233977019
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18661731323652983,
        -0.27678565446253617,
        -0.027058649952087132
      ],
      "position_mm": [
        186.61731323652984,
        -276.7856544625362,
        -27.058649952087134
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.3715991907744337,
        -0.1841555381829345,
        -0.0275817686590283
      ],
      "position_mm": [
        371.5991907744337,
        -184.15553818293452,
        -27.5817686590283
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 97,
      "position_m": [
        0.30649681028112,
        -0.3584795471503003,
        -0.02719965548047985
      ],
      "position_mm": [
        306.49681028112,
        -358.4795471503003,
        -27.19965548047985
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10461873007902171,
        -0.19060959665138588,
        -0.027034114235207494
      ],
      "position_mm": [
        104.61873007902172,
        -190.60959665138589,
        -27.034114235207493
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.159958039382567,
        -0.053530009348929534,
        0.09171226865462803
      ],
      "position_mm": [
        159.958039382567,
        -53.53000934892953,
        91.71226865462803
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.6502755851887317,
        -0.010787701516286361,
        0.00045726552425999863
      ],
      "position_mm": [
        650.2755851887317,
        -10.787701516286361,
        0.4572655242599986
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.02171835086268251,
        -0.020340157943394,
        0.0010696268694305184
      ],
      "position_mm": [
        21.71835086268251,
        -20.340157943394,
        1.0696268694305184
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.3481578883045394,
        -0.01236558422283304,
        0.0006104017588019441
      ],
      "position_mm": [
        348.1578883045394,
        -12.365584222833041,
        0.6104017588019441
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 217,
      "position_m": [
        0.6466197194857746,
        -0.08982521987477064,
        0.000285440966858493
      ],
      "position_mm": [
        646.6197194857746,
        -89.82521987477064,
        0.28544096685849296
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    }
  ]
}