{ "schema_version": "1.2", "stage": "initial_triangulation", "created_utc": "2026-06-03T04:23:27Z", "summary": { "num_cameras": 4, "num_markers": 27, "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": "d", "position_m": [ 0.7005523974946344, -0.7953874519308782, 0.40063197730228306 ], "position_mm": [ 700.5523974946344, -795.3874519308782, 400.6319773022831 ], "direction": [ -0.5518289804458618, 0.7841700911521912, -0.2838345468044281 ] }, { "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": 51, "position_m": [ 0.16788029830784462, -0.17260811918284022, -0.027712664532249166 ], "position_mm": [ 167.8802983078446, -172.60811918284023, -27.712664532249168 ], "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": 58, "position_m": [ 0.047324528477440314, -0.2165081994832994, -0.027402870198877837 ], "position_mm": [ 47.32452847744032, -216.50819948329942, -27.40287019887784 ], "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": 64, "position_m": [ -0.01909383747400644, -0.1891415757544953, -0.027548360638939767 ], "position_mm": [ -19.093837474006442, -189.1415757544953, -27.548360638939766 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.0061610158863872454, -0.27749622138110536, -0.027339510560927344 ], "position_mm": [ 6.161015886387245, -277.49622138110533, -27.339510560927344 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 79, "position_m": [ 0.3117171972186684, -0.1597610804563439, -0.02658341002139591 ], "position_mm": [ 311.71719721866845, -159.7610804563439, -26.58341002139591 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 82, "position_m": [ 0.2183585749696979, 0.29642239298548756, -0.02810555557053296 ], "position_mm": [ 218.3585749696979, 296.42239298548753, -28.105555570532957 ], "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": [ 0.3616649841775739, 0.2948260524054023, -0.026968858818128872 ], "position_mm": [ 361.6649841775739, 294.82605240540227, -26.968858818128872 ], "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": [ 0.18706520366254212, -0.27697954478279424, -0.026701497093282442 ], "position_mm": [ 187.06520366254213, -276.9795447827942, -26.70149709328244 ], "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": [ 0.10477515873371135, -0.19062927217316689, -0.027457786339780448 ], "position_mm": [ 104.77515873371135, -190.6292721731669, -27.457786339780448 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 115, "position_m": [ 0.23221154119022705, -0.16146140824613575, 0.23626440653553385 ], "position_mm": [ 232.21154119022705, -161.46140824613576, 236.26440653553385 ], "link": "Arm2", "normal": [ -0.7071067811865475, 0.0, -0.7071067811865475 ] }, { "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": 208, "position_m": [ 0.3525876238384592, -0.08947144764583012, 0.0011150436226563397 ], "position_mm": [ 352.5876238384592, -89.47144764583012, 1.1150436226563396 ], "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": [ 0.34808759794275085, -0.012214160444563213, 0.0009418432019538438 ], "position_mm": [ 348.08759794275085, -12.214160444563213, 0.9418432019538437 ], "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 ] }, { "marker_id": 243, "position_m": [ 0.16086981371680323, -0.17562844338619749, 0.046282617264733705 ], "position_mm": [ 160.86981371680324, -175.6284433861975, 46.2826172647337 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 245, "position_m": [ 0.2501843053822354, -0.17636891441150646, 0.052388102710406434 ], "position_mm": [ 250.1843053822354, -176.36891441150647, 52.388102710406436 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] } ] }