{
  "schema_version": "1.2",
  "stage": "initial_triangulation",
  "created_utc": "2026-06-03T04:32:41Z",
  "summary": {
    "num_cameras": 3,
    "num_markers": 14,
    "num_constraints": 94
  },
  "cameras": [
    {
      "camera_id": "c",
      "position_m": [
        0.3025716400208697,
        -0.9019776711250698,
        0.39818619728372245
      ],
      "position_mm": [
        302.5716400208697,
        -901.9776711250697,
        398.18619728372244
      ],
      "direction": [
        -0.10782834142446518,
        0.9495705962181091,
        -0.2944294512271881
      ]
    },
    {
      "camera_id": "e",
      "position_m": [
        1.2047895519114378,
        -0.909711288880933,
        0.41070428458266445
      ],
      "position_mm": [
        1204.7895519114377,
        -909.711288880933,
        410.70428458266446
      ],
      "direction": [
        -0.7462964057922363,
        0.608277440071106,
        -0.2702595889568329
      ]
    },
    {
      "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": 48,
      "position_m": [
        0.6870768685271785,
        -0.31846148704917165,
        -0.027715977780475173
      ],
      "position_mm": [
        687.0768685271785,
        -318.46148704917164,
        -27.715977780475175
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.40236910235692663,
        -0.17387561189749728,
        -0.027329685172618887
      ],
      "position_mm": [
        402.36910235692665,
        -173.8756118974973,
        -27.329685172618888
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 63,
      "position_m": [
        0.7761020215056514,
        -0.23636674138969066,
        -0.027895076193012947
      ],
      "position_mm": [
        776.1020215056515,
        -236.36674138969067,
        -27.895076193012947
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.01930400971309661,
        -0.18934711892434264,
        -0.026673763996124325
      ],
      "position_mm": [
        -19.30400971309661,
        -189.34711892434265,
        -26.673763996124325
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5057582568810841,
        -0.31440532130115617,
        -0.027405738946589663
      ],
      "position_mm": [
        505.7582568810841,
        -314.40532130115616,
        -27.405738946589665
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6517011420120365,
        -0.2237884527863699,
        -0.027625253595628233
      ],
      "position_mm": [
        651.7011420120366,
        -223.7884527863699,
        -27.625253595628234
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10447351062354218,
        -0.19092703664740496,
        -0.027300411819116414
      ],
      "position_mm": [
        104.47351062354218,
        -190.92703664740495,
        -27.300411819116412
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.27186777500122156,
        -0.16278659547049093,
        0.236856551203188
      ],
      "position_mm": [
        271.86777500122156,
        -162.78659547049094,
        236.856551203188
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.17080407368242378,
        -0.052739634452765985,
        0.0905124319750469
      ],
      "position_mm": [
        170.8040736824238,
        -52.73963445276598,
        90.5124319750469
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.3526836326789717,
        -0.08913564188613265,
        -0.00023158928301903885
      ],
      "position_mm": [
        352.68363267897166,
        -89.13564188613266,
        -0.23158928301903886
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34911836764842796,
        -0.010704187462364548,
        0.0001451678516925821
      ],
      "position_mm": [
        349.118367648428,
        -10.704187462364548,
        0.1451678516925821
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 215,
      "position_m": [
        0.2502453362416292,
        -0.08864758231000877,
        3.4043124471333135e-05
      ],
      "position_mm": [
        250.2453362416292,
        -88.64758231000877,
        0.03404312447133313
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.1670531692409411,
        -0.14214829729787334,
        0.08739552247380523
      ],
      "position_mm": [
        167.0531692409411,
        -142.14829729787334,
        87.39552247380523
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.260983905534562,
        -0.1788451891781884,
        0.05358625015324203
      ],
      "position_mm": [
        260.98390553456204,
        -178.8451891781884,
        53.586250153242034
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}