{ "schema_version": "1.2", "stage": "initial_triangulation", "created_utc": "2026-06-03T04:28:57Z", "summary": { "num_cameras": 4, "num_markers": 28, "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": "c", "position_m": [ 0.3287264582676568, -0.9186429714357892, 0.3564346556463644 ], "position_mm": [ 328.72645826765677, -918.6429714357893, 356.4346556463644 ], "direction": [ -0.13607342541217804, 0.9607956409454346, -0.24156945943832397 ] }, { "camera_id": "f", "position_m": [ 0.4845048811903778, -0.3053365075209884, 1.403362534392144 ], "position_mm": [ 484.50488119037783, -305.3365075209884, 1403.3625343921442 ], "direction": [ -0.2269427329301834, 0.08483054488897324, -0.9702065587043762 ] } ], "markers": [ { "marker_id": 42, "position_m": [ 0.21288133976114781, -0.08127155884611076, 0.3467975428037435 ], "position_mm": [ 212.8813397611478, -81.27155884611076, 346.79754280374345 ], "link": "FingerA", "normal": [ 0.8830215713766957, -0.3090575499818435, 0.3532086285506783 ] }, { "marker_id": 43, "position_m": [ 0.2658433802425893, -0.07805281405871514, 0.34534528481298504 ], "position_mm": [ 265.8433802425893, -78.05281405871514, 345.345284812985 ], "link": "FingerB", "normal": [ 0.4224220616915755, 0.0, 0.9063992507699015 ] }, { "marker_id": 47, "position_m": [ 0.3436019419754138, -0.28835690622088617, -0.027617276751238894 ], "position_mm": [ 343.6019419754138, -288.3569062208862, -27.617276751238894 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 51, "position_m": [ 0.16752385535896933, -0.17324098642404837, -0.027170834324939275 ], "position_mm": [ 167.5238553589693, -173.24098642404837, -27.170834324939275 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 53, "position_m": [ 0.4887685690043798, 0.21533064890943004, -0.027591163043034415 ], "position_mm": [ 488.7685690043798, 215.33064890943004, -27.591163043034413 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 54, "position_m": [ 0.339958390270554, -0.32824701546942675, -0.02691422577152041 ], "position_mm": [ 339.95839027055405, -328.24701546942674, -26.91422577152041 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 55, "position_m": [ 0.2846087614800939, -0.2611787810032168, -0.027282401821381575 ], "position_mm": [ 284.6087614800939, -261.1787810032168, -27.282401821381576 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 56, "position_m": [ 0.5006511696910535, 0.16564623375411097, -0.027747254170889007 ], "position_mm": [ 500.6511696910535, 165.64623375411097, -27.747254170889008 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 58, "position_m": [ 0.047699659224711616, -0.21624612638043686, -0.028152398337176934 ], "position_mm": [ 47.69965922471162, -216.24612638043686, -28.152398337176933 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.4021786712058468, -0.17311803798198852, -0.02811880870688738 ], "position_mm": [ 402.17867120584685, -173.11803798198852, -28.118808706887382 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.01931457815746316, -0.1890894328101985, -0.026108515016641985 ], "position_mm": [ -19.31457815746316, -189.0894328101985, -26.108515016641984 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.005725883763564787, -0.2773060011831607, -0.028087214002134615 ], "position_mm": [ 5.725883763564787, -277.3060011831607, -28.087214002134615 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 72, "position_m": [ 0.4419678533436276, 0.19375330969107105, -0.027624844855126198 ], "position_mm": [ 441.9678533436276, 193.75330969107105, -27.6248448551262 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 75, "position_m": [ -0.026849071150557367, 0.19199946163754056, -0.025992768664680137 ], "position_mm": [ -26.849071150557368, 191.99946163754055, -25.99276866468014 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 79, "position_m": [ 0.3119764856257087, -0.1597777603562294, -0.02675713842519185 ], "position_mm": [ 311.9764856257087, -159.7777603562294, -26.75713842519185 ], "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": [ 0.18650221762550698, -0.2767705329637022, -0.02724980522520594 ], "position_mm": [ 186.50221762550697, -276.7705329637022, -27.24980522520594 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.3721463242081747, -0.18428926522614406, -0.028347246453172 ], "position_mm": [ 372.1463242081747, -184.28926522614407, -28.347246453171998 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10529918625210923, -0.19050212219946208, -0.02696470437692832 ], "position_mm": [ 105.29918625210922, -190.5021221994621, -26.96470437692832 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 113, "position_m": [ 0.2716251453630974, -0.16131710600023497, 0.23290907411707742 ], "position_mm": [ 271.6251453630974, -161.31710600023496, 232.90907411707744 ], "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": [ 0.3522995576193749, -0.08968899182975365, 0.0012524314920954742 ], "position_mm": [ 352.2995576193749, -89.68899182975365, 1.2524314920954742 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 210, "position_m": [ 0.021180418538998196, -0.02012857396225193, 0.001550985677598135 ], "position_mm": [ 21.180418538998197, -20.12857396225193, 1.5509856775981352 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.3478594965663273, -0.012561643725050543, 0.0016645887050828418 ], "position_mm": [ 347.8594965663273, -12.561643725050542, 1.6645887050828418 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 229, "position_m": [ 0.16702607747917514, -0.14304605575794338, 0.08960388147420986 ], "position_mm": [ 167.02607747917514, -143.04605575794338, 89.60388147420986 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 243, "position_m": [ 0.17143763771464457, -0.1748588653762262, 0.044476160878953126 ], "position_mm": [ 171.43763771464458, -174.8588653762262, 44.476160878953124 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 245, "position_m": [ 0.26137931486913935, -0.17454782434102742, 0.048868309428753 ], "position_mm": [ 261.37931486913936, -174.54782434102742, 48.868309428752994 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] }, { "marker_id": 248, "position_m": [ 0.22811894967525123, -0.17329220701741294, 0.04993921175900772 ], "position_mm": [ 228.11894967525123, -173.29220701741295, 49.93921175900772 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] } ] }