{ "schema_version": "1.2", "stage": "initial_triangulation", "created_utc": "2026-06-03T04:28:44Z", "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": "d", "position_m": [ 0.7029130020015959, -0.7907698766672966, 0.4011397354766348 ], "position_mm": [ 702.9130020015959, -790.7698766672966, 401.13973547663477 ], "direction": [ -0.5559978485107422, 0.7807162404060364, -0.28521665930747986 ] }, { "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": [ 0.2661259613683448, -0.07526187474905749, 0.3386357792440141 ], "position_mm": [ 266.1259613683448, -75.26187474905748, 338.6357792440141 ], "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": [ 0.16771788217228745, -0.17251892518430356, -0.027592545532380573 ], "position_mm": [ 167.71788217228746, -172.51892518430355, -27.592545532380573 ], "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": 62, "position_m": [ 0.40213147211835343, -0.17332248150723364, -0.027478624381088806 ], "position_mm": [ 402.13147211835343, -173.32248150723365, -27.478624381088807 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.019505575578145265, -0.18885997665760224, -0.027703654699124787 ], "position_mm": [ -19.505575578145265, -188.85997665760223, -27.703654699124787 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.006002108913153802, -0.27739159118252577, -0.027722140190123607 ], "position_mm": [ 6.002108913153801, -277.39159118252576, -27.722140190123607 ], "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": [ 0.31132510525120904, -0.1596589021385551, -0.02770625848373711 ], "position_mm": [ 311.32510525120904, -159.6589021385551, -27.70625848373711 ], "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": [ 0.1871872686190157, -0.27663763297531746, -0.02653514787956797 ], "position_mm": [ 187.1872686190157, -276.63763297531744, -26.53514787956797 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.37174428927451036, -0.18444998611722307, -0.027245194646620122 ], "position_mm": [ 371.7442892745104, -184.44998611722306, -27.24519464662012 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10448566807088287, -0.19055451941254395, -0.02751995507238813 ], "position_mm": [ 104.48566807088287, -190.55451941254395, -27.51995507238813 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 113, "position_m": [ 0.2686990636137636, -0.1604937545588887, 0.23447686847986735 ], "position_mm": [ 268.6990636137636, -160.4937545588887, 234.47686847986733 ], "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": [ 0.35247100863400155, -0.08964369441284724, 0.0017168490353765189 ], "position_mm": [ 352.4710086340015, -89.64369441284724, 1.716849035376519 ], "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": 211, "position_m": [ 0.2528680633133983, -0.011224367711142966, 0.0008063621284953085 ], "position_mm": [ 252.8680633133983, -11.224367711142966, 0.8063621284953085 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.34776073402412605, -0.012468796577626076, 0.0013756747711843437 ], "position_mm": [ 347.76073402412607, -12.468796577626076, 1.3756747711843438 ], "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": [ 0.17080312948062298, -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 ] } ] }