{
 "description": "T_mocap_to_cam: maps OptiTrack (mm) -> camera frame (mm)",
 "T_mocap_to_cam": [
  [
   0.9987689323019825,
   0.04789247635294343,
   0.012920161653051267,
   -394.4763993373926
  ],
  [
   0.04826421351573066,
   -0.9983784326630464,
   -0.030183950818081413,
   -270.493443209141
  ],
  [
   0.011453626590133171,
   0.030770373771911365,
   -0.9994608539286934,
   826.019809512672
  ],
  [
   0.0,
   0.0,
   0.0,
   1.0
  ]
 ],
 "camera_serial": "217222066989",
 "intrinsics": {
  "fx": 609.06005859375,
  "fy": 608.275390625,
  "ppx": 332.47943115234375,
  "ppy": 239.3525390625,
  "width": 640,
  "height": 480
 },
 "mocap_scale": 1000.0,
 "num_points": 8,
 "rmse_mm": 5.298559912741648,
 "residuals_mm": [
  5.6271211125758995,
  10.154049290401456,
  5.295565503833297,
  3.904543899485634,
  4.413577550470772,
  1.7606626889517276,
  3.887479237641652,
  2.9745783556701872
 ],
 "points_cam_mm": [
  [
   -138.17422485351562,
   -176.80650329589844,
   783.0000610351562
  ],
  [
   -203.81289672851562,
   -122.2757797241211,
   764.0000610351562
  ],
  [
   -176.41786193847656,
   -83.21672058105469,
   799.0000610351562
  ],
  [
   -160.75990295410156,
   -65.39496612548828,
   806.0000610351562
  ],
  [
   -45.515159606933594,
   -123.39057159423828,
   804.0000610351562
  ],
  [
   -18.994951248168945,
   -117.36901092529297,
   799.0000610351562
  ],
  [
   36.103763580322266,
   -105.6508560180664,
   771.0000610351562
  ],
  [
   53.24198913574219,
   -181.49072265625,
   781.0000610351562
  ]
 ],
 "points_mocap_mm": [
  [
   261.084,
   48.644,
   84.548
  ],
  [
   195.857,
   50.153999999999996,
   138.387
  ],
  [
   228.08700000000002,
   29.228,
   177.35799999999998
  ],
  [
   242.60999999999999,
   20.526,
   195.374
  ],
  [
   355.329,
   17.682,
   130.42100000000002
  ],
  [
   382.233,
   28.935,
   135.28799999999998
  ],
  [
   437.52000000000004,
   51.916,
   144.34900000000002
  ],
  [
   449.58799999999997,
   50.361000000000004,
   70.165
  ]
 ],
 "created_at": "2026-05-12T20:34:29",
 "up_axis": "z"
}