{ "schema_version": "1.2", "stage": "initial_triangulation", "created_utc": "2026-06-03T04:22:19Z", "summary": { "num_cameras": 3, "num_markers": 20, "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": "g", "position_m": [ -0.2072035888495123, 0.2035164095056965, 1.4022641029137521 ], "position_mm": [ -207.2035888495123, 203.5164095056965, 1402.2641029137521 ], "direction": [ 0.30012577772140503, -0.29805290699005127, -0.906139612197876 ] } ], "markers": [ { "marker_id": 41, "position_m": [ 0.2581375164481101, -0.14278738288913972, 0.34377836162870723 ], "position_mm": [ 258.1375164481101, -142.78738288913974, 343.7783616287072 ], "link": "FingerA", "normal": [ 0.0, -0.9375276894468237, 0.34791066600565723 ] }, { "marker_id": 54, "position_m": [ 0.34004338748140095, -0.3277148398467217, -0.02715866918539347 ], "position_mm": [ 340.04338748140094, -327.71483984672165, -27.15866918539347 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 55, "position_m": [ 0.2847109035633591, -0.26099191031691427, -0.027964747798917996 ], "position_mm": [ 284.7109035633591, -260.99191031691424, -27.964747798917998 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 59, "position_m": [ 0.6275104879637845, -0.27641866080874633, -0.02682338790024373 ], "position_mm": [ 627.5104879637845, -276.4186608087463, -26.82338790024373 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.4021906588717495, -0.1729954495544394, -0.028203629507641072 ], "position_mm": [ 402.19065887174946, -172.9954495544394, -28.20362950764107 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 63, "position_m": [ 0.7749949492484761, -0.2361550320675289, -0.0270511032130011 ], "position_mm": [ 774.9949492484761, -236.1550320675289, -27.0511032130011 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.006340785846558974, -0.27809279250253033, -0.02797757098531715 ], "position_mm": [ 6.3407858465589735, -278.0927925025303, -27.97757098531715 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 71, "position_m": [ 0.7513788890321755, -0.28510439465168363, -0.0267813475732686 ], "position_mm": [ 751.3788890321755, -285.10439465168366, -26.7813475732686 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 85, "position_m": [ 0.5064114918341371, -0.31368194330214183, -0.02703485460850681 ], "position_mm": [ 506.41149183413717, -313.6819433021418, -27.034854608506812 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 86, "position_m": [ 0.3627055069589754, 0.2948413075022532, -0.028108683753721622 ], "position_mm": [ 362.70550695897543, 294.8413075022532, -28.10868375372162 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 92, "position_m": [ 0.6467497093856076, -0.18711243618691614, -0.027105007104849192 ], "position_mm": [ 646.7497093856076, -187.11243618691614, -27.105007104849193 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 95, "position_m": [ 0.18702815698297434, -0.27713877509646745, -0.02791613712160903 ], "position_mm": [ 187.02815698297434, -277.13877509646744, -27.91613712160903 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.37209705861529857, -0.18366343948286856, -0.028424671103494916 ], "position_mm": [ 372.0970586152986, -183.66343948286857, -28.424671103494916 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 97, "position_m": [ 0.306059775231544, -0.35841123626853655, -0.02667915689185217 ], "position_mm": [ 306.059775231544, -358.4112362685365, -26.67915689185217 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 102, "position_m": [ 0.6518691382800169, -0.22399438415797196, -0.028174264429093678 ], "position_mm": [ 651.869138280017, -223.99438415797195, -28.17426442909368 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10512415062810834, -0.19126562556807858, -0.028714971755992753 ], "position_mm": [ 105.12415062810834, -191.26562556807858, -28.714971755992753 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 198, "position_m": [ 0.16015622969152732, -0.05277602832110981, 0.0910171625416362 ], "position_mm": [ 160.15622969152733, -52.776028321109806, 91.01716254163621 ], "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": 217, "position_m": [ 0.6467420424276864, -0.08904194157423782, 3.942602396198998e-05 ], "position_mm": [ 646.7420424276864, -89.04194157423782, 0.039426023961989985 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 229, "position_m": [ 0.15749679771773453, -0.1419574508197695, 0.08586756141842292 ], "position_mm": [ 157.49679771773452, -141.9574508197695, 85.86756141842292 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] } ] }