{
  "schema_version": "1.2",
  "stage": "initial_triangulation",
  "created_utc": "2026-06-03T04:27:54Z",
  "summary": {
    "num_cameras": 3,
    "num_markers": 20,
    "num_constraints": 94
  },
  "cameras": [
    {
      "camera_id": "a",
      "position_m": [
        -0.3014392781131834,
        -0.7976593540300962,
        0.8090873924075274
      ],
      "position_mm": [
        -301.4392781131834,
        -797.6593540300962,
        809.0873924075273
      ],
      "direction": [
        0.478444904088974,
        0.6539158821105957,
        -0.5860755443572998
      ]
    },
    {
      "camera_id": "b",
      "position_m": [
        0.3044963064856628,
        -0.8948174327872729,
        1.2012475383268955
      ],
      "position_mm": [
        304.4963064856628,
        -894.8174327872729,
        1201.2475383268954
      ],
      "direction": [
        0.005024135112762451,
        0.6242465972900391,
        -0.7812111973762512
      ]
    },
    {
      "camera_id": "d",
      "position_m": [
        0.7029130020015959,
        -0.7907698766672966,
        0.4011397354766348
      ],
      "position_mm": [
        702.9130020015959,
        -790.7698766672966,
        401.13973547663477
      ],
      "direction": [
        -0.5559978485107422,
        0.7807162404060364,
        -0.28521665930747986
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 42,
      "position_m": [
        0.21677961714101973,
        -0.07705197531494452,
        0.343101420439363
      ],
      "position_mm": [
        216.77961714101974,
        -77.05197531494453,
        343.101420439363
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 43,
      "position_m": [
        0.2691314996318053,
        -0.07413091490012769,
        0.34030671634304427
      ],
      "position_mm": [
        269.13149963180535,
        -74.13091490012769,
        340.3067163430443
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16771788217228745,
        -0.17251892518430356,
        -0.027592545532380573
      ],
      "position_mm": [
        167.71788217228746,
        -172.51892518430355,
        -27.592545532380573
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.3395542080389117,
        -0.3286244758459219,
        -0.02617450485583482
      ],
      "position_mm": [
        339.55420803891167,
        -328.6244758459219,
        -26.174504855834822
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.2845071111068411,
        -0.26126544881491237,
        -0.0270217041263227
      ],
      "position_mm": [
        284.50711110684114,
        -261.26544881491236,
        -27.0217041263227
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.4015238819220127,
        -0.17388059726094868,
        -0.026554612669330496
      ],
      "position_mm": [
        401.5238819220127,
        -173.8805972609487,
        -26.554612669330496
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.005597093781937304,
        -0.2772391657101083,
        -0.027936737419410204
      ],
      "position_mm": [
        5.597093781937304,
        -277.2391657101083,
        -27.936737419410203
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.44178421085193514,
        0.19369689899488943,
        -0.02745417545055741
      ],
      "position_mm": [
        441.78421085193514,
        193.69689899488944,
        -27.45417545055741
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5062299128351762,
        -0.3151783919291475,
        -0.025733338039402424
      ],
      "position_mm": [
        506.22991283517615,
        -315.1783919291475,
        -25.733338039402422
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.1867683482816059,
        -0.27596509615120146,
        -0.027453327125883182
      ],
      "position_mm": [
        186.7683482816059,
        -275.96509615120146,
        -27.45332712588318
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.3712057769677459,
        -0.18498255048381698,
        -0.026423689875011997
      ],
      "position_mm": [
        371.2057769677459,
        -184.982550483817,
        -26.423689875012
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10417481909922857,
        -0.18994269969697433,
        -0.027589738335198368
      ],
      "position_mm": [
        104.17481909922857,
        -189.94269969697433,
        -27.58973833519837
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.2710983590596924,
        -0.15965184746976951,
        0.2351627765562781
      ],
      "position_mm": [
        271.09835905969237,
        -159.6518474697695,
        235.1627765562781
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.17111938399697948,
        -0.05171130902346422,
        0.09099592485411864
      ],
      "position_mm": [
        171.11938399697948,
        -51.71130902346422,
        90.99592485411864
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.35253475920902777,
        -0.08976536131957112,
        0.0016534681632493359
      ],
      "position_mm": [
        352.53475920902775,
        -89.76536131957113,
        1.653468163249336
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.02152440359031539,
        -0.01870238286949427,
        -0.0003137879578545107
      ],
      "position_mm": [
        21.52440359031539,
        -18.70238286949427,
        -0.3137879578545107
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34788810170827206,
        -0.012526323577147903,
        0.0014718332092692305
      ],
      "position_mm": [
        347.8881017082721,
        -12.526323577147902,
        1.4718332092692306
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.17080312948062298,
        -0.17534160974514862,
        0.04648120109655762
      ],
      "position_mm": [
        170.80312948062297,
        -175.34160974514862,
        46.481201096557626
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.2603217436024351,
        -0.1767945337742601,
        0.05286539682579496
      ],
      "position_mm": [
        260.3217436024351,
        -176.79453377426012,
        52.86539682579496
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.22608447232278653,
        -0.1758234577552331,
        0.0531579147296938
      ],
      "position_mm": [
        226.08447232278652,
        -175.82345775523308,
        53.1579147296938
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}