{
  "description": "T_mocap_to_cam: maps OptiTrack (mm) -> camera frame (mm)",
  "camera_serial": "143322063538",
  "intrinsics": {
    "fx": 608.547607421875,
    "fy": 606.7799072265625,
    "ppx": 314.88201904296875,
    "ppy": 243.41900634765625,
    "width": 640,
    "height": 480
  },
  "mocap_scale": 1000.0,
  "created_at": "2026-06-26T01:28:28",
  "points_px": [
    [
      476.1643371582031,
      168.6651611328125
    ],
    [
      494.1025085449219,
      328.59747314453125
    ],
    [
      545.0,
      134.0
    ],
    [
      490.233642578125,
      124.05828857421875
    ],
    [
      480.1378479003906,
      155.3331756591797
    ],
    [
      351.42706298828125,
      348.67474365234375
    ],
    [
      294.347412109375,
      358.010009765625
    ],
    [
      340.0,
      120.0
    ],
    [
      292.0,
      95.0
    ],
    [
      157.60145568847656,
      253.61737060546875
    ],
    [
      504.0,
      47.0
    ],
    [
      485.0,
      124.0
    ],
    [
      620.0,
      182.0
    ],
    [
      475.0,
      155.0
    ],
    [
      469.9,
      169.1
    ],
    [
      158.0,
      251.0
    ]
  ],
  "points_mocap_mm": [
    [
      237.281,
      25.998,
      180.44
    ],
    [
      460.894,
      47.84,
      -0.392
    ],
    [
      143.892,
      82.0,
      140.107
    ],
    [
      172.231,
      55.411,
      215.355
    ],
    [
      216.828,
      35.16,
      191.24099999999999
    ],
    [
      613.479,
      25.656000000000002,
      111.227
    ],
    [
      689.639,
      59.382999999999996,
      145.195
    ],
    [
      439.964,
      142.1,
      328.855
    ],
    [
      458.52799999999996,
      139.993,
      401.318
    ],
    [
      720.971,
      60.617999999999995,
      355.09000000000003
    ],
    [
      97.826,
      129.169,
      280.17900000000003
    ],
    [
      178.634,
      55.319,
      221.09
    ],
    [
      184.85299999999998,
      129.086,
      9.525
    ],
    [
      224.36700000000002,
      35.253,
      198.943
    ],
    [
      245.226,
      26.088,
      189.045
    ],
    [
      719.66,
      60.197,
      358.024
    ]
  ],
  "points_cam_mm": [
    null,
    null,
    null,
    null,
    null,
    null,
    null,
    null,
    null,
    null,
    null,
    [
      281.0,
      -198.0,
      1004.0
    ],
    [
      438.0,
      -88.0,
      873.0
    ],
    [
      264.0,
      -146.0,
      1005.0
    ],
    [
      254.0,
      -122.0,
      999.0
    ],
    [
      -199.0,
      10.0,
      772.0
    ]
  ],
  "method": "pnp",
  "num_points": 16,
  "rmse_px": 0.6773529089318477,
  "num_inliers": 16,
  "reproj_err_px": [
    0.7942859636336915,
    0.5964620646155961,
    0.5332480035534054,
    0.5820560730276184,
    1.019866973042847,
    0.2506705542493553,
    0.30316141058477153,
    0.5786690734086455,
    0.7720108630971527,
    0.8671502377557846,
    0.8289407230345537,
    0.29621572579504546,
    0.17477754603634127,
    0.7905926251861011,
    1.0375773923076859,
    0.5885532195519027
  ],
  "T_mocap_to_cam": [
    [
      -0.6897515335422411,
      0.17239305255868395,
      -0.7032236183502552,
      543.1555716667916
    ],
    [
      0.5463648033253602,
      -0.5133887065796541,
      -0.6617533812861933,
      -115.24517071234328
    ],
    [
      -0.4751087493020592,
      -0.8406620435026007,
      0.2599211514106996,
      1053.6128044932914
    ],
    [
      0.0,
      0.0,
      0.0,
      1.0
    ]
  ]
}