{
  "description": "T_mocap_to_cam: maps OptiTrack (mm) -> camera frame (mm)",
  "T_mocap_to_cam": [
    [
      -0.7060810935772296,
      0.13557481039174474,
      -0.6950316252373175,
      605.2919096634614
    ],
    [
      0.5284341378626592,
      -0.5524871598419762,
      -0.644604762743106,
      -100.86727498691573
    ],
    [
      -0.47138821711422957,
      -0.8224216734723081,
      0.3184583799633454,
      1061.7990457647895
    ],
    [
      0.0,
      0.0,
      0.0,
      1.0
    ]
  ],
  "camera_serial": "143322063538",
  "intrinsics": {
    "fx": 608.547607421875,
    "fy": 606.7799072265625,
    "ppx": 314.88201904296875,
    "ppy": 243.41900634765625,
    "width": 640,
    "height": 480
  },
  "mocap_scale": 1000.0,
  "num_points": 6,
  "rmse_mm": 7.520075033441005,
  "residuals_mm": [
    5.862949060495028,
    5.926871764374507,
    9.172862106825736,
    3.5435031927827803,
    8.811105858313384,
    9.77106902542866
  ],
  "points_cam_mm": [
    [
      150.92872619628906,
      131.20069885253906,
      740.0000610351562
    ],
    [
      138.0159454345703,
      81.08906555175781,
      799.0000610351562
    ],
    [
      189.72586059570312,
      98.56414794921875,
      824.0000610351562
    ],
    [
      216.35919189453125,
      107.14408874511719,
      838.0000610351562
    ],
    [
      367.6980285644531,
      -94.39984130859375,
      964.0000610351562
    ],
    [
      363.8806457519531,
      -169.8037872314453,
      1006.0000610351562
    ]
  ],
  "points_mocap_mm": [
    [
      589.6700000000001,
      72.957,
      64.666
    ],
    [
      545.219,
      53.733999999999995,
      120.568
    ],
    [
      506.815,
      28.365000000000002,
      92.73
    ],
    [
      487.085,
      17.403,
      63.273999999999994
    ],
    [
      225.428,
      47.405,
      127.916
    ],
    [
      169.442,
      48.574,
      192.152
    ]
  ],
  "created_at": "2026-05-12T22:31:39"
}