{
 "description": "T_mocap_to_cam: maps OptiTrack (mm) -> camera frame (mm)",
 "T_mocap_to_cam": [
  [
   -0.810677868162443,
   -0.4417948639462208,
   -0.38421178048354576,
   158.37843079282737
  ],
  [
   -0.2945501948324127,
   0.8748721945072194,
   -0.3844981482430172,
   284.86657177938224
  ],
  [
   0.5060055106377637,
   -0.19853448433171958,
   -0.8393702888090293,
   685.6891619250176
  ],
  [
   0.0,
   0.0,
   0.0,
   1.0
  ]
 ],
 "camera_serial": "104122062574",
 "intrinsics": {
  "fx": 608.4557495117188,
  "fy": 608.1494750976562,
  "ppx": 316.0635986328125,
  "ppy": 224.6374053955078,
  "width": 640,
  "height": 480
 },
 "mocap_scale": 1000.0,
 "num_points": 6,
 "rmse_mm": 4.747439312142084,
 "residuals_mm": [
  3.140296552809229,
  4.349449571685337,
  4.871127835377674,
  2.593150843339738,
  3.17090715166062,
  8.120525615331562
 ],
 "points_cam_mm": [
  [
   16.711177825927734,
   89.64736938476562,
   786.0000610351562
  ],
  [
   90.5625228881836,
   48.319942474365234,
   766.0000610351562
  ],
  [
   83.88683319091797,
   15.152631759643555,
   811.0000610351562
  ],
  [
   -216.6715087890625,
   79.90221405029297,
   928.0000610351562
  ],
  [
   -252.9880828857422,
   -4.093912601470947,
   944.0000610351562
  ],
  [
   -326.0710144042969,
   26.836889266967773,
   940.0000610351562
  ]
 ],
 "points_mocap_mm": [
  [
   225.43099999999998,
   47.395,
   127.916
  ],
  [
   169.44400000000002,
   48.577000000000005,
   192.14600000000002
  ],
  [
   207.466,
   27.64,
   225.561
  ],
  [
   487.104,
   17.412,
   63.24
  ],
  [
   546.218,
   51.876,
   121.794
  ],
  [
   589.725,
   72.872,
   64.61
  ]
 ],
 "created_at": "2026-05-12T22:16:20",
 "up_axis": "z"
}