{ "schema_version": "1.2", "stage": "initial_triangulation", "created_utc": "2026-06-03T04:33:28Z", "summary": { "num_cameras": 3, "num_markers": 22, "num_constraints": 94 }, "cameras": [ { "camera_id": "a", "position_m": [ -0.30124957039980904, -0.7944876545661685, 0.8037787426157785 ], "position_mm": [ -301.24957039980904, -794.4876545661685, 803.7787426157786 ], "direction": [ 0.47980576753616333, 0.6539319157600403, -0.5849440097808838 ] }, { "camera_id": "b", "position_m": [ 0.29717288049224716, -0.8887366669190728, 1.2029439521855916 ], "position_mm": [ 297.17288049224715, -888.7366669190728, 1202.9439521855916 ], "direction": [ 0.010270745493471622, 0.6205654144287109, -0.7840874195098877 ] }, { "camera_id": "f", "position_m": [ 0.48505310768854737, -0.309669335539303, 1.402070939578569 ], "position_mm": [ 485.05310768854736, -309.669335539303, 1402.070939578569 ], "direction": [ -0.22737352550029755, 0.08767975866794586, -0.9698523283004761 ] } ], "markers": [ { "marker_id": 42, "position_m": [ 0.21209849880439866, -0.08158376638101258, 0.34457750345360727 ], "position_mm": [ 212.09849880439864, -81.58376638101258, 344.5775034536073 ], "link": "FingerA", "normal": [ 0.8830215713766957, -0.3090575499818435, 0.3532086285506783 ] }, { "marker_id": 43, "position_m": [ 0.26497373408108815, -0.07875412737450598, 0.34342791486627294 ], "position_mm": [ 264.97373408108814, -78.75412737450597, 343.42791486627294 ], "link": "FingerB", "normal": [ 0.4224220616915755, 0.0, 0.9063992507699015 ] }, { "marker_id": 47, "position_m": [ 0.3438662760425957, -0.28835319381951696, -0.02694189057517027 ], "position_mm": [ 343.8662760425957, -288.35319381951695, -26.94189057517027 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 54, "position_m": [ 0.33990736395146515, -0.32759700151578586, -0.02681366393232612 ], "position_mm": [ 339.90736395146513, -327.59700151578585, -26.813663932326122 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 55, "position_m": [ 0.284572558920921, -0.260703737795025, -0.027567158010507187 ], "position_mm": [ 284.572558920921, -260.703737795025, -27.567158010507185 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 58, "position_m": [ 0.047565539704392944, -0.21680940895493886, -0.02759328519400377 ], "position_mm": [ 47.56553970439295, -216.80940895493885, -27.59328519400377 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.40170544856799595, -0.17335678186093023, -0.027012504023777577 ], "position_mm": [ 401.705448567996, -173.35678186093023, -27.012504023777577 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.006231931442687331, -0.27750707616010595, -0.027898680424103674 ], "position_mm": [ 6.231931442687331, -277.50707616010595, -27.898680424103674 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 79, "position_m": [ 0.311405064339724, -0.1595551057584584, -0.027371378163332242 ], "position_mm": [ 311.405064339724, -159.5551057584584, -27.371378163332242 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 83, "position_m": [ 0.04524436656073279, 0.3414872115230647, -0.02797859191900612 ], "position_mm": [ 45.244366560732786, 341.48721152306473, -27.978591919006117 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 85, "position_m": [ 0.5065902483024827, -0.313631255222867, -0.02721626947809926 ], "position_mm": [ 506.5902483024827, -313.631255222867, -27.21626947809926 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 86, "position_m": [ 0.36331729968490445, 0.2965234691735012, -0.030193931115587474 ], "position_mm": [ 363.31729968490447, 296.5234691735012, -30.193931115587475 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 92, "position_m": [ 0.646709286359723, -0.18763849808465397, -0.026941611666311493 ], "position_mm": [ 646.709286359723, -187.63849808465397, -26.94161166631149 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 95, "position_m": [ 0.1864091406280786, -0.2769409964011155, -0.026971058262060314 ], "position_mm": [ 186.4091406280786, -276.9409964011155, -26.971058262060314 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.37133282334745316, -0.18430765292080872, -0.027401819814030687 ], "position_mm": [ 371.33282334745314, -184.30765292080872, -27.401819814030688 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 97, "position_m": [ 0.30657853444062166, -0.3583593085567373, -0.026874095888700537 ], "position_mm": [ 306.57853444062164, -358.3593085567373, -26.874095888700538 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10456402268628284, -0.19061017748989958, -0.027086338604612657 ], "position_mm": [ 104.56402268628284, -190.6101774898996, -27.086338604612656 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 206, "position_m": [ 0.6505161854371168, -0.010510973367911375, 0.00013056112483235006 ], "position_mm": [ 650.5161854371167, -10.510973367911374, 0.13056112483235005 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 208, "position_m": [ 0.35255121179289345, -0.08949201151689083, -0.0002309357894848409 ], "position_mm": [ 352.55121179289347, -89.49201151689083, -0.2309357894848409 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 210, "position_m": [ 0.021582314609408113, -0.020125773974314747, 0.00047996963361014424 ], "position_mm": [ 21.58231460940811, -20.125773974314747, 0.4799696336101442 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.34806192494520083, -0.012156413084452202, -0.00038357184656809224 ], "position_mm": [ 348.0619249452008, -12.156413084452202, -0.38357184656809223 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 229, "position_m": [ 0.1660775540529198, -0.14303023490636488, 0.08873901566525552 ], "position_mm": [ 166.0775540529198, -143.03023490636488, 88.73901566525552 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] } ] }