The registration setup is composed of three CCD cameras making up the trinocular vision system, with a 1280*1024 pixels resolution and a 12 mm lens, all synchronized
with a 30 Hz trigger for a regular acquisition. The positions of the cameras have to minimize the reconstruction error, and the set must be able to reconstruct the paintbrush even if data from one camera is missing. This is why the cameras should be the most distant possible one from each other, preferably covering the three directions of the three axis reference frame