{ "schema_version": "1.2", "stage": "initial_triangulation", "created_utc": "2026-06-03T04:32:52Z", "summary": { "num_cameras": 3, "num_markers": 21, "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": "g", "position_m": [ -0.20892576741721647, 0.20128727403677504, 1.401691703675199 ], "position_mm": [ -208.92576741721646, 201.28727403677505, 1401.691703675199 ], "direction": [ 0.30114462971687317, -0.2968323230743408, -0.9062021970748901 ] } ], "markers": [ { "marker_id": 42, "position_m": [ 0.21466578557990387, -0.07796779672031891, 0.34162519530280305 ], "position_mm": [ 214.66578557990388, -77.9677967203189, 341.62519530280304 ], "link": "FingerA", "normal": [ 0.8830215713766957, -0.3090575499818435, 0.3532086285506783 ] }, { "marker_id": 43, "position_m": [ 0.2678074416469462, -0.07493714513183172, 0.34059218678804903 ], "position_mm": [ 267.8074416469462, -74.93714513183173, 340.59218678804905 ], "link": "FingerB", "normal": [ 0.4224220616915755, 0.0, 0.9063992507699015 ] }, { "marker_id": 48, "position_m": [ 0.6869147508604819, -0.3182860719852472, -0.027307485163407377 ], "position_mm": [ 686.914750860482, -318.28607198524725, -27.307485163407378 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 54, "position_m": [ 0.3396661333501714, -0.32736215414413544, -0.026888380389196515 ], "position_mm": [ 339.6661333501714, -327.36215414413545, -26.888380389196517 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 55, "position_m": [ 0.28441233428163654, -0.26127120697645106, -0.027261303924589416 ], "position_mm": [ 284.41233428163656, -261.2712069764511, -27.261303924589416 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 59, "position_m": [ 0.627367711620584, -0.2767301385312419, -0.02713870339763914 ], "position_mm": [ 627.367711620584, -276.7301385312419, -27.13870339763914 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.4018028043083682, -0.17340169847579817, -0.027267709906159197 ], "position_mm": [ 401.8028043083682, -173.40169847579818, -27.267709906159197 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 63, "position_m": [ 0.7750843344742281, -0.23657050114443304, -0.0272286071517455 ], "position_mm": [ 775.0843344742281, -236.57050114443302, -27.2286071517455 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.006065889773137263, -0.2778339613574879, -0.027676150050922024 ], "position_mm": [ 6.065889773137263, -277.8339613574879, -27.676150050922022 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 85, "position_m": [ 0.5062927368425392, -0.31388661776391585, -0.027206729286759428 ], "position_mm": [ 506.29273684253917, -313.88661776391586, -27.206729286759426 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 86, "position_m": [ 0.36309289185425386, 0.2945229973669171, -0.029744444504427175 ], "position_mm": [ 363.0928918542539, 294.52299736691714, -29.744444504427175 ], "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": [ 0.18675726415718957, -0.2772326070863383, -0.027835845399334723 ], "position_mm": [ 186.75726415718958, -277.2326070863383, -27.835845399334723 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 97, "position_m": [ 0.30578945379688804, -0.35840379283884594, -0.026248720958565185 ], "position_mm": [ 305.78945379688804, -358.40379283884596, -26.248720958565187 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 102, "position_m": [ 0.6516249759974321, -0.22413396797421822, -0.02761471522037728 ], "position_mm": [ 651.6249759974321, -224.13396797421822, -27.61471522037728 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10485366732269766, -0.19116199314422233, -0.028452990158914483 ], "position_mm": [ 104.85366732269766, -191.16199314422232, -28.452990158914485 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 198, "position_m": [ 0.1697800640378693, -0.052802380974278584, 0.09111641821814678 ], "position_mm": [ 169.7800640378693, -52.802380974278584, 91.11641821814678 ], "link": "Arm1", "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": [ 0.35253582180279025, -0.08923036072237361, -0.0010053093558429762 ], "position_mm": [ 352.5358218027902, -89.23036072237362, -1.0053093558429762 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 217, "position_m": [ 0.6468583375659769, -0.08963796543280847, -0.0002634109309689334 ], "position_mm": [ 646.8583375659769, -89.63796543280847, -0.2634109309689334 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 229, "position_m": [ 0.1670827874337053, -0.14230891189718436, 0.08654142336140981 ], "position_mm": [ 167.0827874337053, -142.30891189718437, 86.54142336140981 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] } ] }