From bc8a2d4b5039eab6f22f98c9b828f7b71b11f254 Mon Sep 17 00:00:00 2001 From: Luddo183 <93882319+Luddo183@users.noreply.github.com> Date: Sat, 21 Mar 2026 13:41:19 -0400 Subject: [PATCH 1/9] wip --- src/main/java/org/team2342/frc/Constants.java | 9 +++--- .../java/org/team2342/frc/RobotContainer.java | 10 ++++--- .../frc/subsystems/shooter/Turret.java | 4 +++ .../team2342/frc/util/PassingController.java | 29 +++++++++++++++++++ 4 files changed, 44 insertions(+), 8 deletions(-) create mode 100644 src/main/java/org/team2342/frc/util/PassingController.java diff --git a/src/main/java/org/team2342/frc/Constants.java b/src/main/java/org/team2342/frc/Constants.java index 0210d36..ad1d207 100644 --- a/src/main/java/org/team2342/frc/Constants.java +++ b/src/main/java/org/team2342/frc/Constants.java @@ -173,7 +173,7 @@ public static final class IntakeConstants { INTAKE_WHEELS_SIM_MOTOR); public static final double PIVOT_GEAR_RATIO = 40; - public static final double MIN_ANGLE = 0.1; + public static final double MIN_ANGLE = 0.2; public static final double MAX_ANGLE = 2.23; public static final PIDFFConfigs PIVOT_MOTOR_PID_CONFIGS = @@ -198,7 +198,8 @@ public static final class ShooterConstants { public static final double FLYWHEEL_RADIUS_METERS = Units.inchesToMeters(2.0); public static final double IDLE_SPEED = 15.0; - public static final double FLYWHEEL_AT_GOAL_TOLERANCE = 3.0; + public static final double FLYWHEEL_AT_GOAL_TOLERANCE = + 2.0 / ShooterConstants.FLYWHEEL_RADIUS_METERS; public static final PIDFFConfigs FLYWHEEL_PID_CONFIGS = new PIDFFConfigs() @@ -251,8 +252,8 @@ public static final class TurretConstants { public static final double AT_POSITION_THRESHOLD = 0.01; public static final double STARTING_ANGLE = Units.degreesToRadians(90); - public static final double MIN_TURRET_ANGLE = Units.degreesToRadians(0); - public static final double MAX_TURRET_ANGLE = Units.degreesToRadians(359); + public static final double MIN_TURRET_ANGLE = Units.degreesToRadians(5); + public static final double MAX_TURRET_ANGLE = Units.degreesToRadians(355); public static final double GEAR_RATIO = (48.0 / 12.0) * (100.0 / 10.0); diff --git a/src/main/java/org/team2342/frc/RobotContainer.java b/src/main/java/org/team2342/frc/RobotContainer.java index c100872..96cbd16 100644 --- a/src/main/java/org/team2342/frc/RobotContainer.java +++ b/src/main/java/org/team2342/frc/RobotContainer.java @@ -102,6 +102,7 @@ public class RobotContainer { private final Trigger allianceZoneTrigger; private final Trigger shiftAboutToEnd; private final Trigger activeOrPassing; + private final Trigger readyToFire; @Getter private double turretManual, flywheelManual; @@ -301,6 +302,7 @@ public RobotContainer() { || FiringSolver.getInstance() .calculate(drive.getChassisSpeeds(), drive.getPose()) .passing()); + readyToFire = new Trigger(() -> turret.atGoal() && flywheel.atGoal()); configureBindings(); } @@ -401,8 +403,8 @@ private void configureBindings() { .rightTrigger() .whileTrue(conductor.runState(ConductorState.TRACKED_FIRING)) .and(activeOrPassing) - .whileTrue( - Commands.waitSeconds(1).andThen(Commands.parallel(indexer.pulseIn(), kicker.in()))) + .and(readyToFire) + .whileTrue(Commands.parallel(indexer.pulseIn(), kicker.in())) .onFalse(Commands.parallel(indexer.stop(), kicker.stop())); // Firing during inactive period @@ -415,8 +417,8 @@ private void configureBindings() { driverController .rightBumper() .whileTrue(conductor.runState(ConductorState.TRACKED_FIRING)) - .whileTrue( - Commands.waitSeconds(1).andThen(Commands.parallel(indexer.pulseIn(), kicker.in()))) + .and(readyToFire) + .whileTrue(Commands.parallel(indexer.pulseIn(), kicker.in())) .onFalse(Commands.parallel(indexer.stop(), kicker.stop())); // Operator override diff --git a/src/main/java/org/team2342/frc/subsystems/shooter/Turret.java b/src/main/java/org/team2342/frc/subsystems/shooter/Turret.java index b2b73d9..1a93ef6 100644 --- a/src/main/java/org/team2342/frc/subsystems/shooter/Turret.java +++ b/src/main/java/org/team2342/frc/subsystems/shooter/Turret.java @@ -113,6 +113,10 @@ public boolean atGoal() { return Math.abs(inputs.positionRad - goal) <= TurretConstants.AT_POSITION_THRESHOLD; } + public boolean aroundGoal() { + return Math.abs(inputs.positionRad - goal) <= 0.05; + } + public void zeroTurret() { turretMotor.setPosition(TurretConstants.STARTING_ANGLE); goal = TurretConstants.STARTING_ANGLE; diff --git a/src/main/java/org/team2342/frc/util/PassingController.java b/src/main/java/org/team2342/frc/util/PassingController.java new file mode 100644 index 0000000..cf4ad6b --- /dev/null +++ b/src/main/java/org/team2342/frc/util/PassingController.java @@ -0,0 +1,29 @@ +package org.team2342.frc.util; + +import org.team2342.lib.util.AllianceUtils; +import org.team2342.lib.util.EnhancedXboxController; +import org.team2342.frc.commands.DriveCommands; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.geometry.Translation2d; + +public class PassingController { + + private final EnhancedXboxController operatorController; + + private Translation2d leftTarget = AllianceUtils.flipToAlliance(FieldConstants.LeftBump.nearLeftCorner); + private Translation2d rightTarget = AllianceUtils.flipToAlliance(FieldConstants.RightBump.farLeftCorner); + + public PassingController(EnhancedXboxController operatorController) { + this.operatorController = operatorController; + } + + public void periodic() { + Translation2d leftJoystick = DriveCommands.getLinearVelocityFromJoysticks(leftTarget.getX(), leftTarget.getY()); + Translation2d rightJoystick = DriveCommands.getLinearVelocityFromJoysticks(rightTarget.getX(), rightTarget.getY()); + } + + public Translation2d clamp(Translation2d translation, Translation2d min, Translation2d max) { + return new Translation2d(MathUtil.clamp(translation.getX(), min.getX(), max.getX()), MathUtil.clamp(translation.getY(), min.getY(), max.getY())); + } +} From 95a88258f35a0c3dcec823e602ead5a7818812cf Mon Sep 17 00:00:00 2001 From: abi-appusamy9932 Date: Sun, 22 Mar 2026 15:34:49 -0400 Subject: [PATCH 2/9] passing controller --- .../team2342/frc/util/PassingController.java | 59 +++++++++++++++++-- 1 file changed, 53 insertions(+), 6 deletions(-) diff --git a/src/main/java/org/team2342/frc/util/PassingController.java b/src/main/java/org/team2342/frc/util/PassingController.java index cf4ad6b..3df76eb 100644 --- a/src/main/java/org/team2342/frc/util/PassingController.java +++ b/src/main/java/org/team2342/frc/util/PassingController.java @@ -11,19 +11,66 @@ public class PassingController { private final EnhancedXboxController operatorController; - private Translation2d leftTarget = AllianceUtils.flipToAlliance(FieldConstants.LeftBump.nearLeftCorner); - private Translation2d rightTarget = AllianceUtils.flipToAlliance(FieldConstants.RightBump.farLeftCorner); + private final Translation2d leftTarget = AllianceUtils.flipToAlliance(FieldConstants.LeftBump.nearLeftCorner); + private final Translation2d rightTarget = AllianceUtils.flipToAlliance(FieldConstants.RightBump.farLeftCorner); + + private Translation2d adjustedLeftTarget = leftTarget; + private Translation2d adjustedRightTarget = rightTarget; + + private static final double MAX_OFFSET = 0.5; + private static final double ADJUST_SCALE = 0.1; + + private Translation2d leftMin; + private Translation2d leftMax; + + private Translation2d rightMin; + private Translation2d rightMax; public PassingController(EnhancedXboxController operatorController) { this.operatorController = operatorController; + + leftMin = leftTarget.minus(new Translation2d(MAX_OFFSET, MAX_OFFSET)); + leftMax = leftTarget.plus(new Translation2d(MAX_OFFSET, MAX_OFFSET)); + + rightMin = rightTarget.minus(new Translation2d(MAX_OFFSET, MAX_OFFSET)); + rightMax = rightTarget.plus(new Translation2d(MAX_OFFSET, MAX_OFFSET)); } public void periodic() { - Translation2d leftJoystick = DriveCommands.getLinearVelocityFromJoysticks(leftTarget.getX(), leftTarget.getY()); - Translation2d rightJoystick = DriveCommands.getLinearVelocityFromJoysticks(rightTarget.getX(), rightTarget.getY()); + double xInput = MathUtil.applyDeadband(operatorController.getLeftX(), 0.05); + double yInput = MathUtil.applyDeadband(operatorController.getLeftY(), 0.05); + + Translation2d adjustment = + DriveCommands.getLinearVelocityFromJoysticks(xInput, yInput) + .times(ADJUST_SCALE); + + adjustedLeftTarget = adjustedLeftTarget.plus(adjustment); + adjustedRightTarget = adjustedRightTarget.plus(adjustment); + + adjustedLeftTarget = clamp(adjustedLeftTarget, leftMin, leftMax); + adjustedRightTarget = clamp(adjustedRightTarget, rightMin, rightMax); } public Translation2d clamp(Translation2d translation, Translation2d min, Translation2d max) { - return new Translation2d(MathUtil.clamp(translation.getX(), min.getX(), max.getX()), MathUtil.clamp(translation.getY(), min.getY(), max.getY())); + return new Translation2d( + MathUtil.clamp(translation.getX(), + min.getX(), + max.getX()), + MathUtil.clamp(translation.getY(), + min.getY(), + max.getY())); + } + + public Translation2d getLeftTarget() { + return adjustedLeftTarget; + } + + public Translation2d getRightTarget() { + return adjustedRightTarget; + } + + public void reset() { + adjustedLeftTarget = leftTarget; + adjustedRightTarget = rightTarget; } -} +} \ No newline at end of file From 181a786f7d81fd1bbccfcf875a99acd6d2f8fc1b Mon Sep 17 00:00:00 2001 From: abi-appusamy9932 Date: Sun, 22 Mar 2026 16:01:54 -0400 Subject: [PATCH 3/9] update passing controller --- .../team2342/frc/util/PassingController.java | 21 ++++++++++--------- 1 file changed, 11 insertions(+), 10 deletions(-) diff --git a/src/main/java/org/team2342/frc/util/PassingController.java b/src/main/java/org/team2342/frc/util/PassingController.java index 3df76eb..7b348bc 100644 --- a/src/main/java/org/team2342/frc/util/PassingController.java +++ b/src/main/java/org/team2342/frc/util/PassingController.java @@ -37,17 +37,18 @@ public PassingController(EnhancedXboxController operatorController) { } public void periodic() { - double xInput = MathUtil.applyDeadband(operatorController.getLeftX(), 0.05); - double yInput = MathUtil.applyDeadband(operatorController.getLeftY(), 0.05); - - Translation2d adjustment = - DriveCommands.getLinearVelocityFromJoysticks(xInput, yInput) - .times(ADJUST_SCALE); - - adjustedLeftTarget = adjustedLeftTarget.plus(adjustment); - adjustedRightTarget = adjustedRightTarget.plus(adjustment); - + double leftX = operatorController.getLeftX(); + double leftY = operatorController.getLeftY(); + Translation2d leftAdjustment = + DriveCommands.getLinearVelocityFromJoysticks(leftX, leftY).times(ADJUST_SCALE); + adjustedLeftTarget = adjustedLeftTarget.plus(leftAdjustment); adjustedLeftTarget = clamp(adjustedLeftTarget, leftMin, leftMax); + + double rightX = operatorController.getRightX(); + double rightY = operatorController.getRightY(); + Translation2d rightAdjustment = + DriveCommands.getLinearVelocityFromJoysticks(rightX, rightY).times(ADJUST_SCALE); + adjustedRightTarget = adjustedRightTarget.plus(rightAdjustment); adjustedRightTarget = clamp(adjustedRightTarget, rightMin, rightMax); } From 093247412e43667e1458e8c849337459fecc2494 Mon Sep 17 00:00:00 2001 From: Luddo183 <93882319+Luddo183@users.noreply.github.com> Date: Thu, 26 Mar 2026 20:40:45 -0400 Subject: [PATCH 4/9] wip --- src/main/java/org/team2342/frc/Constants.java | 2 +- src/main/java/org/team2342/frc/Robot.java | 8 +- .../java/org/team2342/frc/RobotContainer.java | 6 +- .../team2342/frc/subsystems/intake/Pivot.java | 4 +- .../org/team2342/frc/util/FiringSolver.java | 42 ++--- .../team2342/frc/util/PassingController.java | 145 +++++++++--------- 6 files changed, 107 insertions(+), 100 deletions(-) diff --git a/src/main/java/org/team2342/frc/Constants.java b/src/main/java/org/team2342/frc/Constants.java index d2298c3..d8d4f16 100644 --- a/src/main/java/org/team2342/frc/Constants.java +++ b/src/main/java/org/team2342/frc/Constants.java @@ -187,7 +187,7 @@ public static final class IntakeConstants { INTAKE_WHEELS_SIM_MOTOR); public static final double PIVOT_GEAR_RATIO = 40; - public static final double MIN_ANGLE = 0.2; + public static final double MIN_ANGLE = 0.1; public static final double MAX_ANGLE = 2.23; public static final PIDFFConfigs PIVOT_MOTOR_PID_CONFIGS = diff --git a/src/main/java/org/team2342/frc/Robot.java b/src/main/java/org/team2342/frc/Robot.java index 3c542eb..8bb6fd5 100644 --- a/src/main/java/org/team2342/frc/Robot.java +++ b/src/main/java/org/team2342/frc/Robot.java @@ -161,14 +161,14 @@ public void robotPeriodic() { ExecutionLogger.log("Commands"); Logger.recordOutput("ShiftUtil/Official", HubShiftUtil.getOfficialShiftInfo()); + Logger.recordOutput("ShiftUtil/Shifted", HubShiftUtil.getShiftedShiftInfo()); Logger.recordOutput( - "ShiftUtil/Dashboard/CurrentShift", HubShiftUtil.getShiftedShiftInfo().currentShift()); + "ShiftUtil/Dashboard/CurrentShift", HubShiftUtil.getOfficialShiftInfo().currentShift()); Logger.recordOutput( - "ShiftUtil/Dashboard/RemainingTime", HubShiftUtil.getShiftedShiftInfo().remainingTime()); - Logger.recordOutput("ShiftUtil/Dashboard/Active", HubShiftUtil.getShiftedShiftInfo().active()); + "ShiftUtil/Dashboard/RemainingTime", HubShiftUtil.getOfficialShiftInfo().remainingTime()); + Logger.recordOutput("ShiftUtil/Dashboard/Active", HubShiftUtil.getOfficialShiftInfo().active()); - Logger.recordOutput("ShiftUtil/Shifted", HubShiftUtil.getShiftedShiftInfo()); Logger.recordOutput("TurretManual", Units.radiansToDegrees(robotContainer.getTurretManual())); Logger.recordOutput("FlywheelManual", robotContainer.getFlywheelManual()); Logger.recordOutput("Vision/HasTags", robotContainer.getVision().hasTags()); diff --git a/src/main/java/org/team2342/frc/RobotContainer.java b/src/main/java/org/team2342/frc/RobotContainer.java index 496c5de..1c80db1 100644 --- a/src/main/java/org/team2342/frc/RobotContainer.java +++ b/src/main/java/org/team2342/frc/RobotContainer.java @@ -316,11 +316,11 @@ public RobotContainer() { activeOrPassing = new Trigger( () -> - HubShiftUtil.getShiftedShiftInfo().active() + HubShiftUtil.getOfficialShiftInfo().active() || FiringSolver.getInstance() .calculate(drive.getChassisSpeeds(), drive.getPose()) .passing()); - readyToFire = new Trigger(() -> turret.atGoal() && flywheel.atGoal()); + readyToFire = new Trigger(() -> turret.aroundGoal() && flywheel.atGoal()); configureBindings(); } @@ -394,7 +394,7 @@ private void configureBindings() { driverController .leftTrigger() .whileTrue(wheels.in().alongWith(pivot.holdAngle(IntakeConstants.MIN_ANGLE))) - .onFalse(wheels.stop().alongWith(pivot.stop())); + .onFalse(wheels.stop().alongWith(pivot.holdAngle(0.2))); // Retract Intake driverController diff --git a/src/main/java/org/team2342/frc/subsystems/intake/Pivot.java b/src/main/java/org/team2342/frc/subsystems/intake/Pivot.java index d2323c1..8cdd59d 100644 --- a/src/main/java/org/team2342/frc/subsystems/intake/Pivot.java +++ b/src/main/java/org/team2342/frc/subsystems/intake/Pivot.java @@ -71,6 +71,8 @@ public Command stop() { } public Command agitate() { - return Commands.repeatingSequence(goToAngle(1.4), goToAngle(1.5)); + return Commands.repeatingSequence( + holdAngle(1.4).withTimeout(0.5), holdAngle(0.5).withTimeout(0.5)) + .withName("Pivot Agitate"); } } diff --git a/src/main/java/org/team2342/frc/util/FiringSolver.java b/src/main/java/org/team2342/frc/util/FiringSolver.java index aa9cbaa..7dcda9c 100644 --- a/src/main/java/org/team2342/frc/util/FiringSolver.java +++ b/src/main/java/org/team2342/frc/util/FiringSolver.java @@ -31,26 +31,28 @@ public class FiringSolver { // TODO: tune real maps static { - speedMap.put(1.942, 14.2); - speedMap.put(2.712, 14.7); - speedMap.put(2.847, 15.5); - speedMap.put(3.065, 17.5); - speedMap.put(3.442, 18.0); - speedMap.put(3.8, 18.5); - speedMap.put(4.16, 20.5); - speedMap.put(4.341, 21.5); - - MIN_TOF = 3.89 - 3.08; - MAX_TOF = 11.3 - 9.83; - - tofMap.put(1.942, 3.89 - 3.08); - tofMap.put(2.712, 4.11 - 3.30); - tofMap.put(2.847, 2.28 - 1.24); - tofMap.put(3.065, 8.70 - 7.62); - tofMap.put(3.442, 3.95 - 2.83); - tofMap.put(3.8, 3.74 - 2.50); - tofMap.put(4.16, 12.27 - 10.91); - tofMap.put(4.341, 11.30 - 9.83); + speedMap.put(2.11, 14.5); + speedMap.put(2.42, 15.0); + speedMap.put(3.0, 16.0); + speedMap.put(3.13, 16.0); + speedMap.put(3.455, 16.5); + speedMap.put(3.77, 17.0); + speedMap.put(4.23, 18.0); + speedMap.put(4.95, 19.0); + speedMap.put(5.166, 21.0); + + MIN_TOF = 7.0 - 6.31; + MAX_TOF = 6.9 - 5.4; + + tofMap.put(2.11, 7.0 - 6.31); + tofMap.put(2.42, 2.41 - 1.66); + tofMap.put(3.0, 7.52 - 6.57); + tofMap.put(3.13, 2.77 - 1.89); + tofMap.put(3.455, 2.65 - 1.62); + tofMap.put(3.77, 4.45 - 3.44); + tofMap.put(4.23, 3.43 - 2.25); + tofMap.put(4.95, 2.64 - 1.33); + tofMap.put(5.166, 6.9 - 5.4); } public static FiringSolver getInstance() { diff --git a/src/main/java/org/team2342/frc/util/PassingController.java b/src/main/java/org/team2342/frc/util/PassingController.java index 7b348bc..7248a99 100644 --- a/src/main/java/org/team2342/frc/util/PassingController.java +++ b/src/main/java/org/team2342/frc/util/PassingController.java @@ -1,77 +1,80 @@ -package org.team2342.frc.util; +// Copyright (c) 2026 Team 2342 +// https://github.com/FRCTeamPhoenix +// +// This source code is licensed under the MIT License. +// See the LICENSE file in the root directory of this project. -import org.team2342.lib.util.AllianceUtils; -import org.team2342.lib.util.EnhancedXboxController; -import org.team2342.frc.commands.DriveCommands; +package org.team2342.frc.util; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.geometry.Translation2d; +import org.team2342.frc.commands.DriveCommands; +import org.team2342.lib.util.AllianceUtils; +import org.team2342.lib.util.EnhancedXboxController; public class PassingController { - - private final EnhancedXboxController operatorController; - - private final Translation2d leftTarget = AllianceUtils.flipToAlliance(FieldConstants.LeftBump.nearLeftCorner); - private final Translation2d rightTarget = AllianceUtils.flipToAlliance(FieldConstants.RightBump.farLeftCorner); - - private Translation2d adjustedLeftTarget = leftTarget; - private Translation2d adjustedRightTarget = rightTarget; - - private static final double MAX_OFFSET = 0.5; - private static final double ADJUST_SCALE = 0.1; - - private Translation2d leftMin; - private Translation2d leftMax; - - private Translation2d rightMin; - private Translation2d rightMax; - - public PassingController(EnhancedXboxController operatorController) { - this.operatorController = operatorController; - - leftMin = leftTarget.minus(new Translation2d(MAX_OFFSET, MAX_OFFSET)); - leftMax = leftTarget.plus(new Translation2d(MAX_OFFSET, MAX_OFFSET)); - - rightMin = rightTarget.minus(new Translation2d(MAX_OFFSET, MAX_OFFSET)); - rightMax = rightTarget.plus(new Translation2d(MAX_OFFSET, MAX_OFFSET)); - } - - public void periodic() { - double leftX = operatorController.getLeftX(); - double leftY = operatorController.getLeftY(); - Translation2d leftAdjustment = - DriveCommands.getLinearVelocityFromJoysticks(leftX, leftY).times(ADJUST_SCALE); - adjustedLeftTarget = adjustedLeftTarget.plus(leftAdjustment); - adjustedLeftTarget = clamp(adjustedLeftTarget, leftMin, leftMax); - - double rightX = operatorController.getRightX(); - double rightY = operatorController.getRightY(); - Translation2d rightAdjustment = - DriveCommands.getLinearVelocityFromJoysticks(rightX, rightY).times(ADJUST_SCALE); - adjustedRightTarget = adjustedRightTarget.plus(rightAdjustment); - adjustedRightTarget = clamp(adjustedRightTarget, rightMin, rightMax); - } - - public Translation2d clamp(Translation2d translation, Translation2d min, Translation2d max) { - return new Translation2d( - MathUtil.clamp(translation.getX(), - min.getX(), - max.getX()), - MathUtil.clamp(translation.getY(), - min.getY(), - max.getY())); - } - - public Translation2d getLeftTarget() { - return adjustedLeftTarget; - } - - public Translation2d getRightTarget() { - return adjustedRightTarget; - } - - public void reset() { - adjustedLeftTarget = leftTarget; - adjustedRightTarget = rightTarget; - } -} \ No newline at end of file + + private final EnhancedXboxController operatorController; + + private final Translation2d leftTarget = + AllianceUtils.flipToAlliance(FieldConstants.LeftBump.nearLeftCorner); + private final Translation2d rightTarget = + AllianceUtils.flipToAlliance(FieldConstants.RightBump.farLeftCorner); + + private Translation2d adjustedLeftTarget = leftTarget; + private Translation2d adjustedRightTarget = rightTarget; + + private static final double MAX_OFFSET = 0.5; + private static final double ADJUST_SCALE = 0.1; + + private Translation2d leftMin; + private Translation2d leftMax; + + private Translation2d rightMin; + private Translation2d rightMax; + + public PassingController(EnhancedXboxController operatorController) { + this.operatorController = operatorController; + + leftMin = leftTarget.minus(new Translation2d(MAX_OFFSET, MAX_OFFSET)); + leftMax = leftTarget.plus(new Translation2d(MAX_OFFSET, MAX_OFFSET)); + + rightMin = rightTarget.minus(new Translation2d(MAX_OFFSET, MAX_OFFSET)); + rightMax = rightTarget.plus(new Translation2d(MAX_OFFSET, MAX_OFFSET)); + } + + public void periodic() { + double leftX = operatorController.getLeftX(); + double leftY = operatorController.getLeftY(); + Translation2d leftAdjustment = + DriveCommands.getLinearVelocityFromJoysticks(leftX, leftY).times(ADJUST_SCALE); + adjustedLeftTarget = adjustedLeftTarget.plus(leftAdjustment); + adjustedLeftTarget = clamp(adjustedLeftTarget, leftMin, leftMax); + + double rightX = operatorController.getRightX(); + double rightY = operatorController.getRightY(); + Translation2d rightAdjustment = + DriveCommands.getLinearVelocityFromJoysticks(rightX, rightY).times(ADJUST_SCALE); + adjustedRightTarget = adjustedRightTarget.plus(rightAdjustment); + adjustedRightTarget = clamp(adjustedRightTarget, rightMin, rightMax); + } + + public Translation2d clamp(Translation2d translation, Translation2d min, Translation2d max) { + return new Translation2d( + MathUtil.clamp(translation.getX(), min.getX(), max.getX()), + MathUtil.clamp(translation.getY(), min.getY(), max.getY())); + } + + public Translation2d getLeftTarget() { + return adjustedLeftTarget; + } + + public Translation2d getRightTarget() { + return adjustedRightTarget; + } + + public void reset() { + adjustedLeftTarget = leftTarget; + adjustedRightTarget = rightTarget; + } +} From 4a2d1bd05f3ccbbfef74042e2f399a06bbf42b2a Mon Sep 17 00:00:00 2001 From: abi-appusamy9932 Date: Thu, 26 Mar 2026 20:45:02 -0400 Subject: [PATCH 5/9] update 'autoShoot' --- .../java/org/team2342/frc/RobotContainer.java | 23 +++++++++---------- 1 file changed, 11 insertions(+), 12 deletions(-) diff --git a/src/main/java/org/team2342/frc/RobotContainer.java b/src/main/java/org/team2342/frc/RobotContainer.java index 496c5de..5a8220d 100644 --- a/src/main/java/org/team2342/frc/RobotContainer.java +++ b/src/main/java/org/team2342/frc/RobotContainer.java @@ -328,18 +328,17 @@ public RobotContainer() { private void configureNamedCommands() { NamedCommands.registerCommand("Named Command Test", Commands.print("Named Command Test")); NamedCommands.registerCommand( - "autoShoot", - conductor - .runState(ConductorState.WARM_UP) - .withTimeout(2.0) - .andThen( - conductor - .runState(ConductorState.TRACKED_FIRING) - .alongWith(pivot.holdAngle(0)) - .alongWith(wheels.in()) - .alongWith(indexer.in()) - .alongWith(disruptor.in()) - .alongWith(kicker.in()))); + "autoShoot", + conductor.runState(ConductorState.WARM_UP) + .withTimeout(1.0) + .andThen( + conductor.runState(ConductorState.TRACKED_FIRING) + .alongWith(pivot.holdAngle(IntakeConstants.MIN_ANGLE)) + .alongWith(Commands.parallel(indexer.pulseIn(), kicker.in(), disruptor.in())) + .withTimeout(3.0)) + .finallyDo(() -> + Commands.parallel(indexer.stop(), kicker.stop(), disruptor.stop() + ))); NamedCommands.registerCommand( "autoIntake", From 244e26ae5f6df7e8bf9252c40e3e020da3e51444 Mon Sep 17 00:00:00 2001 From: abi-appusamy9932 Date: Thu, 26 Mar 2026 21:00:35 -0400 Subject: [PATCH 6/9] update passing target + new interpolation table --- src/main/java/org/team2342/frc/util/FiringSolver.java | 2 ++ .../java/org/team2342/frc/util/PassingController.java | 8 ++++++-- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/src/main/java/org/team2342/frc/util/FiringSolver.java b/src/main/java/org/team2342/frc/util/FiringSolver.java index 7dcda9c..4a66e82 100644 --- a/src/main/java/org/team2342/frc/util/FiringSolver.java +++ b/src/main/java/org/team2342/frc/util/FiringSolver.java @@ -28,6 +28,7 @@ public class FiringSolver { private static final InterpolatingDoubleTreeMap speedMap = new InterpolatingDoubleTreeMap(); private static final InterpolatingDoubleTreeMap tofMap = new InterpolatingDoubleTreeMap(); + private static final InterpolatingDoubleTreeMap passingMap = new InterpolatingDoubleTreeMap(); // TODO: tune real maps static { @@ -53,6 +54,7 @@ public class FiringSolver { tofMap.put(4.23, 3.43 - 2.25); tofMap.put(4.95, 2.64 - 1.33); tofMap.put(5.166, 6.9 - 5.4); + } public static FiringSolver getInstance() { diff --git a/src/main/java/org/team2342/frc/util/PassingController.java b/src/main/java/org/team2342/frc/util/PassingController.java index 7248a99..9639965 100644 --- a/src/main/java/org/team2342/frc/util/PassingController.java +++ b/src/main/java/org/team2342/frc/util/PassingController.java @@ -17,9 +17,13 @@ public class PassingController { private final EnhancedXboxController operatorController; private final Translation2d leftTarget = - AllianceUtils.flipToAlliance(FieldConstants.LeftBump.nearLeftCorner); + AllianceUtils.flipToAlliance(FieldConstants.Outpost.centerPoint); + private final Translation2d rightTarget = - AllianceUtils.flipToAlliance(FieldConstants.RightBump.farLeftCorner); + AllianceUtils.flipToAlliance( + new Translation2d( + FieldConstants.Outpost.centerPoint.getX(), + FieldConstants.fieldWidth - FieldConstants.Outpost.centerPoint.getY())); private Translation2d adjustedLeftTarget = leftTarget; private Translation2d adjustedRightTarget = rightTarget; From 886334de7bd760e88ef73de09e632ffbd1d43c7b Mon Sep 17 00:00:00 2001 From: abi-appusamy9932 Date: Sat, 28 Mar 2026 16:30:11 -0400 Subject: [PATCH 7/9] wip --- src/main/java/org/team2342/frc/Constants.java | 27 +++++++++++++++++-- .../java/org/team2342/frc/RobotContainer.java | 2 +- 2 files changed, 26 insertions(+), 3 deletions(-) diff --git a/src/main/java/org/team2342/frc/Constants.java b/src/main/java/org/team2342/frc/Constants.java index d8d4f16..22f17f6 100644 --- a/src/main/java/org/team2342/frc/Constants.java +++ b/src/main/java/org/team2342/frc/Constants.java @@ -41,6 +41,7 @@ public static enum Mode { public static final class VisionConstants { public static final String SWERVE_CAMERA_NAME = "swerve_arducam"; public static final String SHOOTER_CAMERA_NAME = "shooter_arducam"; + public static final String RIGHT_CAMERA_NAME = "right_arducam"; public static final Transform3d SWERVE_CAMERA_TRANSFORM = new Transform3d( @@ -51,6 +52,24 @@ public static final class VisionConstants { new Rotation3d( 0, Units.degreesToRadians(-22.0), Units.degreesToRadians(-(90 + 61.475)))); + public static final Transform3d RIGHT_CAMERA = + new Transform3d( + new Translation3d( + Units.inchesToMeters(-13.428), + Units.inchesToMeters(-3.917), + Units.inchesToMeters(5.930)), + new Rotation3d( + 0, Units.degreesToRadians(-30), Units.degreesToRadians(10))); + + public static final Transform3d LEFT_CAMERA = + new Transform3d( + new Translation3d( + Units.inchesToMeters(-13.428), + Units.inchesToMeters(3.931), + Units.inchesToMeters(5.930)), + new Rotation3d( + 0, Units.degreesToRadians(-30), Units.degreesToRadians(-10))); + public static final Transform3d SHOOTER_CAMERA_TRANSFORM = new Transform3d( new Translation3d( @@ -66,6 +85,10 @@ public static final class VisionConstants { CameraParameters.loadFromName(SWERVE_CAMERA_NAME, 800, 600) .withTransform(SWERVE_CAMERA_TRANSFORM); + public static final CameraParameters RIGHT_CAMERA_PARAMETERS = + CameraParameters.loadFromName(SWERVE_CAMERA_NAME, 800, 600) + .withTransform(RIGHT_CAMERA); + public static final CameraParameters SHOOTER_CAMERA_PARAMETERS = CameraParameters.loadFromName(SHOOTER_CAMERA_NAME, 800, 600) .withTransform(SHOOTER_CAMERA_TRANSFORM); @@ -151,7 +174,7 @@ public static final class IndexerConstants { .withStatorCurrentLimit(70.0) .withIdleMode(MotorConfig.IdleMode.COAST); - public static final DCMotor INDEXER_SIM_MOTOR = DCMotor.getKrakenX60(1); + public static final DCMotor INDEXER_SIM_MOTOR = DCMotor.getKrakenX44(1); public static final DCMotorSim INDEXER_SIM = new DCMotorSim( LinearSystemId.createDCMotorSystem(INDEXER_SIM_MOTOR, 0.003, 1), INDEXER_SIM_MOTOR); @@ -180,7 +203,7 @@ public static final class IntakeConstants { .withStatorCurrentLimit(70.0) .withIdleMode(IdleMode.COAST); - public static final DCMotor INTAKE_WHEELS_SIM_MOTOR = DCMotor.getKrakenX60(1); + public static final DCMotor INTAKE_WHEELS_SIM_MOTOR = DCMotor.getKrakenX44(1); public static final DCMotorSim INTAKE_WHEEL_SIM = new DCMotorSim( LinearSystemId.createDCMotorSystem(INTAKE_WHEELS_SIM_MOTOR, 0.003, 1), diff --git a/src/main/java/org/team2342/frc/RobotContainer.java b/src/main/java/org/team2342/frc/RobotContainer.java index 67ee31c..38f9b61 100644 --- a/src/main/java/org/team2342/frc/RobotContainer.java +++ b/src/main/java/org/team2342/frc/RobotContainer.java @@ -197,7 +197,7 @@ public RobotContainer() { drive::addVisionMeasurement, drive::getTimestampedHeading, new VisionIOSim( - VisionConstants.SWERVE_CAMERA_PARAMETERS, + VisionConstants.RIGHT_CAMERA_PARAMETERS, PoseStrategy.CONSTRAINED_SOLVEPNP, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, drive::getRawOdometryPose), From e6aa4544a4c8b1d2ec8d51327940f45b9656d712 Mon Sep 17 00:00:00 2001 From: Luddo183 <93882319+Luddo183@users.noreply.github.com> Date: Sat, 28 Mar 2026 18:10:09 -0400 Subject: [PATCH 8/9] new cameras --- .../deploy/calibrations/left_arducam_800.json | 1 + .../calibrations/right_arducam_800.json | 1 + src/main/java/org/team2342/frc/Constants.java | 35 ++++------- src/main/java/org/team2342/frc/Robot.java | 6 ++ .../java/org/team2342/frc/RobotContainer.java | 53 ++++++---------- .../org/team2342/frc/util/FiringSolver.java | 6 +- .../team2342/frc/util/PassingController.java | 10 +-- vendordeps/AdvantageKit.json | 6 +- ...enix6-26.1.0.json => Phoenix6-26.1.3.json} | 62 +++++++++---------- vendordeps/REVLib.json | 18 +++--- ...b-2026.1.1.json => ReduxLib-2026.1.2.json} | 12 ++-- vendordeps/photonlib.json | 12 ++-- 12 files changed, 104 insertions(+), 118 deletions(-) create mode 100644 src/main/deploy/calibrations/left_arducam_800.json create mode 100644 src/main/deploy/calibrations/right_arducam_800.json rename vendordeps/{Phoenix6-26.1.0.json => Phoenix6-26.1.3.json} (92%) rename vendordeps/{ReduxLib-2026.1.1.json => ReduxLib-2026.1.2.json} (89%) diff --git a/src/main/deploy/calibrations/left_arducam_800.json b/src/main/deploy/calibrations/left_arducam_800.json new file mode 100644 index 0000000..2ed8c15 --- /dev/null +++ b/src/main/deploy/calibrations/left_arducam_800.json @@ -0,0 +1 @@ +{"resolution":{"width":800.0,"height":600.0},"cameraIntrinsics":{"rows":3,"cols":3,"type":6,"data":[699.7450853151496,0.0,412.73204706097954,0.0,700.3990417355849,309.91525451757764,0.0,0.0,1.0]},"distCoeffs":{"rows":1,"cols":8,"type":6,"data":[0.034259222035201715,-0.030569018665799853,7.246696251794835E-4,5.520758717200523E-5,-0.03424126990838056,-0.0013337876839513232,0.0013690798275838732,0.001440580457907529]},"calobjectWarp":[5.814918176496307E-5,3.92251039318098E-4],"observations":[{"locationInObjectSpace":[{"x":0.0,"y":0.0,"z":0.0},{"x":0.014986000023782253,"y":0.0,"z":1.5427334801643156E-5},{"x":0.0,"y":0.014986000955104828,"z":1.4121038839221E-4},{"x":0.08991599828004837,"y":0.014986000955104828,"z":1.9817284191958606E-4},{"x":0.0,"y":0.029972001910209656,"z":2.5104067754000425E-4},{"x":0.08991599828004837,"y":0.029972001910209656,"z":3.080031310673803E-4},{"x":0.0,"y":0.044958002865314484,"z":3.294908965472132E-4},{"x":0.014986000023782253,"y":0.044958002865314484,"z":3.4491822589188814E-4},{"x":0.08991599828004837,"y":0.044958002865314484,"z":3.8645335007458925E-4},{"x":0.13487400114536285,"y":0.044958002865314484,"z":3.8289319491013885E-4},{"x":0.14986000955104828,"y":0.044958002865314484,"z":3.7695959326811135E-4},{"x":0.19481800496578217,"y":0.044958002865314484,"z":3.4491822589188814E-4},{"x":0.0,"y":0.059943996369838715,"z":3.765609872061759E-4},{"x":0.014986000023782253,"y":0.059943996369838715,"z":3.9198831655085087E-4},{"x":0.029971998184919357,"y":0.059943996369838715,"z":4.050422285217792E-4},{"x":0.044957999140024185,"y":0.059943996369838715,"z":4.157226940151304E-4},{"x":0.059943996369838715,"y":0.059943996369838715,"z":4.2402971303090453E-4},{"x":0.07492999732494354,"y":0.059943996369838715,"z":4.2996328556910157E-4},{"x":0.08991599828004837,"y":0.059943996369838715,"z":4.33523440733552E-4},{"x":0.13487400114536285,"y":0.059943996369838715,"z":4.2996328556910157E-4},{"x":0.14986000955104828,"y":0.059943996369838715,"z":4.2402971303090453E-4},{"x":0.19481800496578217,"y":0.059943996369838715,"z":3.9198831655085087E-4}],"locationInImageSpace":[{"x":380.4349365234375,"y":391.8398742675781},{"x":398.136474609375,"y":393.96514892578125},{"x":378.09698486328125,"y":410.24676513671875},{"x":487.2484130859375,"y":423.9992980957031},{"x":375.1038818359375,"y":427.8198547363281},{"x":485.7422790527344,"y":442.9125061035156},{"x":372.7156066894531,"y":446.0678405761719},{"x":391.1064758300781,"y":449.07806396484375},{"x":484.42657470703125,"y":461.02392578125},{"x":540.7520751953125,"y":468.7489929199219},{"x":559.4150390625,"y":471.5238342285156},{"x":616.0230712890625,"y":479.1669006347656},{"x":369.4886474609375,"y":465.2077331542969},{"x":388.125,"y":467.70098876953125},{"x":407.39654541015625,"y":470.4232482910156},{"x":426.0888366699219,"y":472.8502197265625},{"x":444.95684814453125,"y":475.4363098144531},{"x":463.9080810546875,"y":477.5599365234375},{"x":482.6719055175781,"y":480.1806640625},{"x":539.5828247070312,"y":488.1077880859375},{"x":558.2305297851562,"y":490.5031433105469},{"x":615.8584594726562,"y":498.3214111328125}],"reprojectionErrors":[],"optimisedCameraToObject":{"translation":{"x":-0.026493426430243203,"y":0.06733881486950653,"z":0.5748663498623786},"rotation":{"quaternion":{"W":0.9801262581324502,"X":-0.18740337730388493,"Y":-0.0012332647852763931,"Z":0.06504591726118339}}},"cornersUsed":[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,false,false,false,false,false,true,false,false,false,false,false,false,false,true,false,false,false,false,false,true,false,false,false,false,false,false,false,true,true,false,false,false,false,true,false,false,true,true,false,false,true,true,true,true,true,true,true,true,false,false,true,true,false,false,true],"snapshotName":"img0.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/b2736a45-c86e-4793-aa1d-4d2ccd4b4507/imgs/800x600/img0.png"},{"locationInObjectSpace":[{"x":0.0,"y":0.0,"z":0.0},{"x":0.014986000023782253,"y":0.0,"z":1.5427334801643156E-5},{"x":0.029971998184919357,"y":0.0,"z":2.8481230401666835E-5},{"x":0.044957999140024185,"y":0.0,"z":3.916169225703925E-5},{"x":0.059943996369838715,"y":0.0,"z":4.7468718548770994E-5},{"x":0.13487400114536285,"y":0.0,"z":5.340230927686207E-5},{"x":0.0,"y":0.014986000023782253,"z":1.4121037384029478E-4},{"x":0.014986000023782253,"y":0.014986000023782253,"z":1.5663770318496972E-4},{"x":0.029971998184919357,"y":0.014986000023782253,"z":1.696916006039828E-4},{"x":0.044957999140024185,"y":0.014986000023782253,"z":1.8037206609733403E-4},{"x":0.059943996369838715,"y":0.014986000023782253,"z":1.886790996650234E-4},{"x":0.13487400114536285,"y":0.014986000023782253,"z":1.9461268675513566E-4},{"x":0.0,"y":0.029971998184919357,"z":2.510406484361738E-4},{"x":0.014986000023782253,"y":0.029971998184919357,"z":2.6646797778084874E-4},{"x":0.029971998184919357,"y":0.029971998184919357,"z":2.7952188975177705E-4},{"x":0.044957999140024185,"y":0.029971998184919357,"z":2.902023552451283E-4},{"x":0.059943996369838715,"y":0.029971998184919357,"z":2.985093742609024E-4},{"x":0.07492999732494354,"y":0.029971998184919357,"z":3.044429759029299E-4},{"x":0.08991599828004837,"y":0.029971998184919357,"z":3.080031310673803E-4},{"x":0.1049019992351532,"y":0.029971998184919357,"z":3.091898397542536E-4},{"x":0.11988800019025803,"y":0.029971998184919357,"z":3.080031310673803E-4},{"x":0.17983201146125793,"y":0.029971998184919357,"z":2.7952188975177705E-4},{"x":0.19481800496578217,"y":0.029971998184919357,"z":2.6646797778084874E-4},{"x":0.0,"y":0.044957999140024185,"z":3.2949086744338274E-4},{"x":0.014986000023782253,"y":0.044957999140024185,"z":3.449181967880577E-4},{"x":0.029971998184919357,"y":0.044957999140024185,"z":3.57972108758986E-4},{"x":0.044957999140024185,"y":0.044957999140024185,"z":3.686525742523372E-4},{"x":0.08991599828004837,"y":0.044957999140024185,"z":3.864533209707588E-4},{"x":0.1049019992351532,"y":0.044957999140024185,"z":3.8764005876146257E-4},{"x":0.11988800019025803,"y":0.044957999140024185,"z":3.864533209707588E-4},{"x":0.0,"y":0.059943996369838715,"z":3.765609872061759E-4},{"x":0.014986000023782253,"y":0.059943996369838715,"z":3.9198831655085087E-4},{"x":0.029971998184919357,"y":0.059943996369838715,"z":4.050422285217792E-4},{"x":0.08991599828004837,"y":0.059943996369838715,"z":4.33523440733552E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":4.3471017852425575E-4},{"x":0.11988800019025803,"y":0.059943996369838715,"z":4.33523440733552E-4},{"x":0.0,"y":0.07492999732494354,"z":3.922510368283838E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":4.0767836617305875E-4},{"x":0.029971998184919357,"y":0.07492999732494354,"z":4.2073227814398706E-4},{"x":0.07492999732494354,"y":0.07492999732494354,"z":4.4565333519130945E-4},{"x":0.08991599828004837,"y":0.07492999732494354,"z":4.4921349035575986E-4},{"x":0.1049019992351532,"y":0.07492999732494354,"z":4.5040022814646363E-4},{"x":0.11988800019025803,"y":0.07492999732494354,"z":4.4921349035575986E-4},{"x":0.1648460030555725,"y":0.07492999732494354,"z":4.314127436373383E-4},{"x":0.17983201146125793,"y":0.07492999732494354,"z":4.207322490401566E-4},{"x":0.19481800496578217,"y":0.07492999732494354,"z":4.0767836617305875E-4},{"x":0.0,"y":0.08991599828004837,"z":3.765609872061759E-4},{"x":0.014986000023782253,"y":0.08991599828004837,"z":3.919883456546813E-4},{"x":0.029971998184919357,"y":0.08991599828004837,"z":4.050422285217792E-4},{"x":0.044957999140024185,"y":0.08991599828004837,"z":4.157226940151304E-4},{"x":0.059943996369838715,"y":0.08991599828004837,"z":4.2402971303090453E-4},{"x":0.07492999732494354,"y":0.08991599828004837,"z":4.2996331467293203E-4},{"x":0.08991599828004837,"y":0.08991599828004837,"z":4.3352346983738244E-4},{"x":0.1049019992351532,"y":0.08991599828004837,"z":4.3471017852425575E-4},{"x":0.11988800019025803,"y":0.08991599828004837,"z":4.3352346983738244E-4},{"x":0.13487400114536285,"y":0.08991599828004837,"z":4.2996331467293203E-4},{"x":0.14986000955104828,"y":0.08991599828004837,"z":4.2402971303090453E-4},{"x":0.1648460030555725,"y":0.08991599828004837,"z":4.157226940151304E-4},{"x":0.17983201146125793,"y":0.08991599828004837,"z":4.050422285217792E-4},{"x":0.0,"y":0.1049019992351532,"z":3.2949086744338274E-4},{"x":0.014986000023782253,"y":0.1049019992351532,"z":3.449181967880577E-4},{"x":0.029971998184919357,"y":0.1049019992351532,"z":3.57972108758986E-4},{"x":0.044957999140024185,"y":0.1049019992351532,"z":3.686525742523372E-4},{"x":0.059943996369838715,"y":0.1049019992351532,"z":3.7695959326811135E-4},{"x":0.07492999732494354,"y":0.1049019992351532,"z":3.8289319491013885E-4},{"x":0.08991599828004837,"y":0.1049019992351532,"z":3.8645335007458925E-4},{"x":0.1049019992351532,"y":0.1049019992351532,"z":3.8764005876146257E-4},{"x":0.11988800019025803,"y":0.1049019992351532,"z":3.8645335007458925E-4},{"x":0.13487400114536285,"y":0.1049019992351532,"z":3.8289319491013885E-4},{"x":0.14986000955104828,"y":0.1049019992351532,"z":3.7695959326811135E-4},{"x":0.1648460030555725,"y":0.1049019992351532,"z":3.686525742523372E-4},{"x":0.17983201146125793,"y":0.1049019992351532,"z":3.57972108758986E-4},{"x":0.014986000023782253,"y":0.11988800019025803,"z":2.664680068846792E-4},{"x":0.029971998184919357,"y":0.11988800019025803,"z":2.7952188975177705E-4},{"x":0.044957999140024185,"y":0.11988800019025803,"z":2.902023552451283E-4},{"x":0.059943996369838715,"y":0.11988800019025803,"z":2.985093742609024E-4},{"x":0.07492999732494354,"y":0.11988800019025803,"z":3.044429759029299E-4},{"x":0.08991599828004837,"y":0.11988800019025803,"z":3.080031310673803E-4},{"x":0.1049019992351532,"y":0.11988800019025803,"z":3.091898397542536E-4},{"x":0.11988800019025803,"y":0.11988800019025803,"z":3.080031310673803E-4},{"x":0.1648460030555725,"y":0.11988800019025803,"z":2.902023552451283E-4},{"x":0.17983201146125793,"y":0.11988800019025803,"z":2.7952188975177705E-4},{"x":0.19481800496578217,"y":0.11988800019025803,"z":2.664680068846792E-4},{"x":0.014986000023782253,"y":0.13487400114536285,"z":1.5663770318496972E-4},{"x":0.029971998184919357,"y":0.13487400114536285,"z":1.696916006039828E-4},{"x":0.044957999140024185,"y":0.13487400114536285,"z":1.803720515454188E-4},{"x":0.059943996369838715,"y":0.13487400114536285,"z":1.8867908511310816E-4},{"x":0.07492999732494354,"y":0.13487400114536285,"z":1.9461267220322043E-4},{"x":0.11988800019025803,"y":0.13487400114536285,"z":1.9817282736767083E-4},{"x":0.17983201146125793,"y":0.13487400114536285,"z":1.6969158605206758E-4},{"x":0.19481800496578217,"y":0.13487400114536285,"z":1.566376886330545E-4}],"locationInImageSpace":[{"x":328.04833984375,"y":266.1886291503906},{"x":352.0738830566406,"y":266.89752197265625},{"x":375.3435363769531,"y":267.0629577636719},{"x":398.4497985839844,"y":267.17059326171875},{"x":421.86981201171875,"y":268.0953369140625},{"x":538.2623291015625,"y":270.4146423339844},{"x":327.2413024902344,"y":289.2617492675781},{"x":351.9797668457031,"y":289.7951965332031},{"x":374.9149169921875,"y":290.6101379394531},{"x":398.2381896972656,"y":291.09490966796875},{"x":422.02203369140625,"y":291.6495361328125},{"x":538.7423706054688,"y":293.32293701171875},{"x":326.64520263671875,"y":313.36590576171875},{"x":351.0212097167969,"y":313.37457275390625},{"x":374.2705993652344,"y":314.0807800292969},{"x":398.4416809082031,"y":314.3930358886719},{"x":421.5362854003906,"y":314.7064208984375},{"x":445.358154296875,"y":315.2808837890625},{"x":468.56353759765625,"y":315.7904968261719},{"x":491.9433288574219,"y":315.860595703125},{"x":515.5625,"y":316.11700439453125},{"x":609.234375,"y":318.028564453125},{"x":631.828369140625,"y":318.2532958984375},{"x":326.6032409667969,"y":336.2563171386719},{"x":350.12939453125,"y":337.14361572265625},{"x":374.2595520019531,"y":337.64508056640625},{"x":397.60626220703125,"y":338.2169494628906},{"x":468.6126708984375,"y":338.8998107910156},{"x":492.2297668457031,"y":339.45635986328125},{"x":515.4135131835938,"y":339.8756103515625},{"x":325.59307861328125,"y":360.4311828613281},{"x":349.41064453125,"y":360.2566223144531},{"x":373.63421630859375,"y":361.5101013183594},{"x":468.7894287109375,"y":362.5683288574219},{"x":492.44012451171875,"y":363.4689636230469},{"x":515.5391235351562,"y":363.37994384765625},{"x":325.10650634765625,"y":384.3326416015625},{"x":348.9356994628906,"y":384.7006530761719},{"x":373.2325134277344,"y":385.4031982421875},{"x":444.9069519042969,"y":386.2550964355469},{"x":468.3812255859375,"y":386.2962951660156},{"x":492.1283264160156,"y":386.9505920410156},{"x":516.0128784179688,"y":387.128662109375},{"x":587.11572265625,"y":388.0430908203125},{"x":610.4930419921875,"y":388.8310241699219},{"x":634.208251953125,"y":388.8435974121094},{"x":324.221435546875,"y":409.2079162597656},{"x":348.7728271484375,"y":409.57342529296875},{"x":372.5841979980469,"y":409.1439514160156},{"x":396.70147705078125,"y":409.9975891113281},{"x":420.3006286621094,"y":410.0900573730469},{"x":444.7424011230469,"y":410.40667724609375},{"x":468.5710754394531,"y":410.47430419921875},{"x":492.6377868652344,"y":411.1352233886719},{"x":516.1053466796875,"y":411.65380859375},{"x":539.7493896484375,"y":411.25677490234375},{"x":563.6563110351562,"y":412.0418701171875},{"x":587.004638671875,"y":412.2195739746094},{"x":611.2732543945312,"y":412.49713134765625},{"x":323.7835998535156,"y":433.64080810546875},{"x":347.7804260253906,"y":433.6612854003906},{"x":372.3831481933594,"y":433.93994140625},{"x":396.2137145996094,"y":434.44622802734375},{"x":420.722900390625,"y":434.37042236328125},{"x":444.3340759277344,"y":435.14544677734375},{"x":468.607666015625,"y":435.02459716796875},{"x":492.4337158203125,"y":435.34613037109375},{"x":516.2280883789062,"y":435.5130615234375},{"x":540.026123046875,"y":435.9720153808594},{"x":563.7916259765625,"y":435.92034912109375},{"x":587.8809814453125,"y":436.5390930175781},{"x":611.4485473632812,"y":436.73895263671875},{"x":347.1764831542969,"y":458.8819274902344},{"x":371.4969482421875,"y":458.9580993652344},{"x":395.95098876953125,"y":459.095947265625},{"x":419.7875671386719,"y":459.1842956542969},{"x":444.87109375,"y":459.60675048828125},{"x":468.3454895019531,"y":459.93194580078125},{"x":492.440673828125,"y":459.4856872558594},{"x":516.5515747070312,"y":460.424072265625},{"x":588.1178588867188,"y":460.9810791015625},{"x":612.6469116210938,"y":461.1700134277344},{"x":636.20458984375,"y":461.7186584472656},{"x":346.5653076171875,"y":484.0416564941406},{"x":370.8032531738281,"y":483.94195556640625},{"x":395.7849426269531,"y":484.06793212890625},{"x":419.9351806640625,"y":484.046630859375},{"x":444.3573303222656,"y":484.3809509277344},{"x":516.417724609375,"y":484.7040710449219},{"x":612.87744140625,"y":485.9427185058594},{"x":637.197021484375,"y":486.30743408203125}],"reprojectionErrors":[{"x":0.254241943359375,"y":0.237152099609375},{"x":-0.21527099609375,"y":-0.017059326171875},{"x":0.01776123046875,"y":0.27044677734375},{"x":0.361328125,"y":0.614013671875},{"x":0.338897705078125,"y":0.138763427734375},{"x":0.21044921875,"y":-0.1217041015625},{"x":0.165557861328125,"y":-0.1346435546875},{"x":-0.35784912109375,"y":-0.044525146484375},{"x":0.142059326171875,"y":0.0430908203125},{"x":-0.137908935546875,"y":-0.13177490234375},{"x":0.14654541015625,"y":-0.24310302734375},{"x":-0.300811767578125,"y":0.525848388671875},{"x":-0.04248046875,"y":-0.041015625},{"x":0.26153564453125,"y":-0.08880615234375},{"x":0.0223388671875,"y":0.19873046875},{"x":0.1702880859375,"y":0.727264404296875},{"x":-0.14300537109375,"y":-0.173248291015625},{"x":-0.19818115234375,"y":0.170074462890625},{"x":-0.206298828125,"y":-0.3826904296875},{"x":0.285400390625,"y":0.05322265625},{"x":-0.188720703125,"y":0.35565185546875},{"x":0.158355712890625,"y":0.345733642578125},{"x":0.1597900390625,"y":0.01416015625},{"x":-0.028564453125,"y":0.15802001953125},{"x":-0.35137939453125,"y":0.20458984375},{"x":-0.23638916015625,"y":-0.26458740234375},{"x":-0.50885009765625,"y":0.040863037109375},{"x":-0.059112548828125,"y":0.422760009765625},{"x":-0.102325439453125,"y":-0.131195068359375},{"x":0.317535400390625,"y":0.07537841796875},{"x":-0.04931640625,"y":-0.09552001953125},{"x":0.25152587890625,"y":0.021453857421875},{"x":-0.41845703125,"y":0.0379638671875},{"x":0.007354736328125,"y":-0.15692138671875},{"x":-0.3699951171875,"y":0.1912841796875},{"x":0.095611572265625,"y":-0.311798095703125},{"x":-0.11431884765625,"y":-0.0830078125},{"x":0.025634765625,"y":-0.013946533203125},{"x":-5.18798828125E-4,"y":-0.427093505859375},{"x":0.29986572265625,"y":0.007110595703125},{"x":-0.591766357421875,"y":-0.17034912109375},{"x":0.07073974609375,"y":-0.250823974609375},{"x":0.058074951171875,"y":0.43994140625},{"x":-0.5316162109375,"y":-0.025543212890625},{"x":-0.3212890625,"y":-0.331085205078125},{"x":-0.01226806640625,"y":-0.631439208984375},{"x":0.22979736328125,"y":-0.313995361328125},{"x":-0.3292236328125,"y":-0.222320556640625},{"x":-0.11346435546875,"y":0.016571044921875},{"x":-0.22576904296875,"y":-0.1002197265625},{"x":0.3126220703125,"y":0.228912353515625},{"x":-0.098876953125,"y":-0.140716552734375},{"x":-0.53662109375,"y":-0.28826904296875}],"optimisedCameraToObject":{"translation":{"x":-0.05383192917953302,"y":-0.027702844100968477,"z":0.4461550115079968},"rotation":{"quaternion":{"W":0.9976268620893517,"X":-0.06632712595656774,"Y":-0.016905136422117405,"Z":0.007454714122276533}}},"cornersUsed":[true,true,true,true,true,false,false,false,false,true,false,false,false,false,true,true,true,true,true,false,false,false,false,true,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,true,true,true,true,true,true,false,false,true,true,true,false,false,false,false,false,true,true,true,false,false,false,true,true,true,false,false,false,false,false,true,true,true,false,false,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,false,false,true,true,true,false,true,true,true,true,true,false,false,true,false,false,false,true,true],"snapshotName":"img1.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/b2736a45-c86e-4793-aa1d-4d2ccd4b4507/imgs/800x600/img1.png"},{"locationInObjectSpace":[{"x":0.0,"y":0.0,"z":0.0},{"x":0.044957999140024185,"y":0.0,"z":3.916169225703925E-5},{"x":0.059943996369838715,"y":0.0,"z":4.7468718548770994E-5},{"x":0.07492999732494354,"y":0.0,"z":5.340230927686207E-5},{"x":0.08991599828004837,"y":0.0,"z":5.696246444131248E-5},{"x":0.1049019992351532,"y":0.0,"z":5.814918040414341E-5},{"x":0.11988800019025803,"y":0.0,"z":5.696246444131248E-5},{"x":0.13487400114536285,"y":0.0,"z":5.340230927686207E-5},{"x":0.0,"y":0.014986000023782253,"z":1.4121037384029478E-4},{"x":0.044957999140024185,"y":0.014986000023782253,"z":1.8037206609733403E-4},{"x":0.059943996369838715,"y":0.014986000023782253,"z":1.886790996650234E-4},{"x":0.07492999732494354,"y":0.014986000023782253,"z":1.9461268675513566E-4},{"x":0.08991599828004837,"y":0.014986000023782253,"z":1.9817284191958606E-4},{"x":0.1049019992351532,"y":0.014986000023782253,"z":1.9935955060645938E-4},{"x":0.11988800019025803,"y":0.014986000023782253,"z":1.9817284191958606E-4},{"x":0.13487400114536285,"y":0.014986000023782253,"z":1.9461268675513566E-4},{"x":0.0,"y":0.029971998184919357,"z":2.510406484361738E-4},{"x":0.014986000023782253,"y":0.029971998184919357,"z":2.6646797778084874E-4},{"x":0.029971998184919357,"y":0.029971998184919357,"z":2.7952188975177705E-4},{"x":0.044957999140024185,"y":0.029971998184919357,"z":2.902023552451283E-4},{"x":0.059943996369838715,"y":0.029971998184919357,"z":2.985093742609024E-4},{"x":0.07492999732494354,"y":0.029971998184919357,"z":3.044429759029299E-4},{"x":0.08991599828004837,"y":0.029971998184919357,"z":3.080031310673803E-4},{"x":0.1049019992351532,"y":0.029971998184919357,"z":3.091898397542536E-4},{"x":0.11988800019025803,"y":0.029971998184919357,"z":3.080031310673803E-4},{"x":0.13487400114536285,"y":0.029971998184919357,"z":3.044429759029299E-4},{"x":0.17983201146125793,"y":0.029971998184919357,"z":2.7952188975177705E-4},{"x":0.19481800496578217,"y":0.029971998184919357,"z":2.6646797778084874E-4},{"x":0.0,"y":0.044957999140024185,"z":3.2949086744338274E-4},{"x":0.014986000023782253,"y":0.044957999140024185,"z":3.449181967880577E-4},{"x":0.029971998184919357,"y":0.044957999140024185,"z":3.57972108758986E-4},{"x":0.044957999140024185,"y":0.044957999140024185,"z":3.686525742523372E-4},{"x":0.059943996369838715,"y":0.044957999140024185,"z":3.7695959326811135E-4},{"x":0.07492999732494354,"y":0.044957999140024185,"z":3.828931658063084E-4},{"x":0.08991599828004837,"y":0.044957999140024185,"z":3.864533209707588E-4},{"x":0.1049019992351532,"y":0.044957999140024185,"z":3.8764005876146257E-4},{"x":0.11988800019025803,"y":0.044957999140024185,"z":3.864533209707588E-4},{"x":0.13487400114536285,"y":0.044957999140024185,"z":3.828931658063084E-4},{"x":0.14986000955104828,"y":0.044957999140024185,"z":3.7695959326811135E-4},{"x":0.1648460030555725,"y":0.044957999140024185,"z":3.686525742523372E-4},{"x":0.17983201146125793,"y":0.044957999140024185,"z":3.5797207965515554E-4},{"x":0.19481800496578217,"y":0.044957999140024185,"z":3.449181967880577E-4},{"x":0.0,"y":0.059943996369838715,"z":3.765609872061759E-4},{"x":0.014986000023782253,"y":0.059943996369838715,"z":3.9198831655085087E-4},{"x":0.029971998184919357,"y":0.059943996369838715,"z":4.050422285217792E-4},{"x":0.07492999732494354,"y":0.059943996369838715,"z":4.2996328556910157E-4},{"x":0.08991599828004837,"y":0.059943996369838715,"z":4.33523440733552E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":4.3471017852425575E-4},{"x":0.11988800019025803,"y":0.059943996369838715,"z":4.33523440733552E-4},{"x":0.13487400114536285,"y":0.059943996369838715,"z":4.2996328556910157E-4},{"x":0.14986000955104828,"y":0.059943996369838715,"z":4.2402971303090453E-4},{"x":0.1648460030555725,"y":0.059943996369838715,"z":4.157226940151304E-4},{"x":0.17983201146125793,"y":0.059943996369838715,"z":4.050421994179487E-4},{"x":0.19481800496578217,"y":0.059943996369838715,"z":3.9198831655085087E-4},{"x":0.0,"y":0.07492999732494354,"z":3.922510368283838E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":4.0767836617305875E-4},{"x":0.029971998184919357,"y":0.07492999732494354,"z":4.2073227814398706E-4},{"x":0.07492999732494354,"y":0.07492999732494354,"z":4.4565333519130945E-4},{"x":0.08991599828004837,"y":0.07492999732494354,"z":4.4921349035575986E-4},{"x":0.1049019992351532,"y":0.07492999732494354,"z":4.5040022814646363E-4},{"x":0.11988800019025803,"y":0.07492999732494354,"z":4.4921349035575986E-4},{"x":0.13487400114536285,"y":0.07492999732494354,"z":4.4565333519130945E-4},{"x":0.14986000955104828,"y":0.07492999732494354,"z":4.397197626531124E-4},{"x":0.1648460030555725,"y":0.07492999732494354,"z":4.314127436373383E-4},{"x":0.17983201146125793,"y":0.07492999732494354,"z":4.207322490401566E-4},{"x":0.19481800496578217,"y":0.07492999732494354,"z":4.0767836617305875E-4},{"x":0.0,"y":0.08991599828004837,"z":3.765609872061759E-4},{"x":0.014986000023782253,"y":0.08991599828004837,"z":3.919883456546813E-4},{"x":0.029971998184919357,"y":0.08991599828004837,"z":4.050422285217792E-4},{"x":0.044957999140024185,"y":0.08991599828004837,"z":4.157226940151304E-4},{"x":0.059943996369838715,"y":0.08991599828004837,"z":4.2402971303090453E-4},{"x":0.07492999732494354,"y":0.08991599828004837,"z":4.2996331467293203E-4},{"x":0.08991599828004837,"y":0.08991599828004837,"z":4.3352346983738244E-4},{"x":0.1049019992351532,"y":0.08991599828004837,"z":4.3471017852425575E-4},{"x":0.11988800019025803,"y":0.08991599828004837,"z":4.3352346983738244E-4},{"x":0.13487400114536285,"y":0.08991599828004837,"z":4.2996331467293203E-4},{"x":0.14986000955104828,"y":0.08991599828004837,"z":4.2402971303090453E-4},{"x":0.1648460030555725,"y":0.08991599828004837,"z":4.157226940151304E-4},{"x":0.17983201146125793,"y":0.08991599828004837,"z":4.050422285217792E-4},{"x":0.19481800496578217,"y":0.08991599828004837,"z":3.9198831655085087E-4},{"x":0.0,"y":0.1049019992351532,"z":3.2949086744338274E-4},{"x":0.014986000023782253,"y":0.1049019992351532,"z":3.449181967880577E-4},{"x":0.029971998184919357,"y":0.1049019992351532,"z":3.57972108758986E-4},{"x":0.044957999140024185,"y":0.1049019992351532,"z":3.686525742523372E-4},{"x":0.059943996369838715,"y":0.1049019992351532,"z":3.7695959326811135E-4},{"x":0.07492999732494354,"y":0.1049019992351532,"z":3.8289319491013885E-4},{"x":0.08991599828004837,"y":0.1049019992351532,"z":3.8645335007458925E-4},{"x":0.1049019992351532,"y":0.1049019992351532,"z":3.8764005876146257E-4},{"x":0.11988800019025803,"y":0.1049019992351532,"z":3.8645335007458925E-4},{"x":0.13487400114536285,"y":0.1049019992351532,"z":3.8289319491013885E-4},{"x":0.14986000955104828,"y":0.1049019992351532,"z":3.7695959326811135E-4},{"x":0.1648460030555725,"y":0.1049019992351532,"z":3.686525742523372E-4},{"x":0.17983201146125793,"y":0.1049019992351532,"z":3.57972108758986E-4},{"x":0.19481800496578217,"y":0.1049019992351532,"z":3.449181967880577E-4},{"x":0.0,"y":0.11988800019025803,"z":2.5104067754000425E-4},{"x":0.014986000023782253,"y":0.11988800019025803,"z":2.664680068846792E-4},{"x":0.029971998184919357,"y":0.11988800019025803,"z":2.7952188975177705E-4},{"x":0.044957999140024185,"y":0.11988800019025803,"z":2.902023552451283E-4},{"x":0.059943996369838715,"y":0.11988800019025803,"z":2.985093742609024E-4},{"x":0.07492999732494354,"y":0.11988800019025803,"z":3.044429759029299E-4},{"x":0.08991599828004837,"y":0.11988800019025803,"z":3.080031310673803E-4},{"x":0.1049019992351532,"y":0.11988800019025803,"z":3.091898397542536E-4},{"x":0.11988800019025803,"y":0.11988800019025803,"z":3.080031310673803E-4},{"x":0.13487400114536285,"y":0.11988800019025803,"z":3.044429759029299E-4},{"x":0.14986000955104828,"y":0.11988800019025803,"z":2.985093742609024E-4},{"x":0.1648460030555725,"y":0.11988800019025803,"z":2.902023552451283E-4},{"x":0.17983201146125793,"y":0.11988800019025803,"z":2.7952188975177705E-4},{"x":0.19481800496578217,"y":0.11988800019025803,"z":2.664680068846792E-4},{"x":0.0,"y":0.13487400114536285,"z":1.4121035928837955E-4},{"x":0.014986000023782253,"y":0.13487400114536285,"z":1.5663770318496972E-4},{"x":0.029971998184919357,"y":0.13487400114536285,"z":1.696916006039828E-4},{"x":0.044957999140024185,"y":0.13487400114536285,"z":1.803720515454188E-4},{"x":0.059943996369838715,"y":0.13487400114536285,"z":1.8867908511310816E-4},{"x":0.07492999732494354,"y":0.13487400114536285,"z":1.9461267220322043E-4},{"x":0.08991599828004837,"y":0.13487400114536285,"z":1.9817282736767083E-4},{"x":0.1049019992351532,"y":0.13487400114536285,"z":1.9935955060645938E-4},{"x":0.11988800019025803,"y":0.13487400114536285,"z":1.9817282736767083E-4},{"x":0.13487400114536285,"y":0.13487400114536285,"z":1.9461267220322043E-4},{"x":0.14986000955104828,"y":0.13487400114536285,"z":1.8867908511310816E-4},{"x":0.1648460030555725,"y":0.13487400114536285,"z":1.803720515454188E-4},{"x":0.17983201146125793,"y":0.13487400114536285,"z":1.6969158605206758E-4},{"x":0.19481800496578217,"y":0.13487400114536285,"z":1.566376886330545E-4}],"locationInImageSpace":[{"x":38.123661041259766,"y":213.0736083984375},{"x":118.6462631225586,"y":210.8144989013672},{"x":145.2340545654297,"y":209.92518615722656},{"x":171.6527099609375,"y":209.47642517089844},{"x":197.78973388671875,"y":208.9169158935547},{"x":224.91448974609375,"y":207.93270874023438},{"x":251.02743530273438,"y":206.87213134765625},{"x":277.0121154785156,"y":206.75440979003906},{"x":37.41977310180664,"y":238.90916442871094},{"x":118.67777252197266,"y":236.63011169433594},{"x":145.5367889404297,"y":236.06832885742188},{"x":171.94664001464844,"y":235.0521697998047},{"x":198.2871551513672,"y":234.04718017578125},{"x":225.1292266845703,"y":233.61178588867188},{"x":251.3102569580078,"y":232.6910400390625},{"x":277.6062927246094,"y":231.4735107421875},{"x":37.21659469604492,"y":264.8654479980469},{"x":64.00361633300781,"y":263.86444091796875},{"x":91.41642761230469,"y":263.0955505371094},{"x":117.9299545288086,"y":261.9886169433594},{"x":145.4878692626953,"y":261.1048583984375},{"x":172.0196990966797,"y":260.5483093261719},{"x":198.7442626953125,"y":259.86968994140625},{"x":225.23333740234375,"y":258.5602111816406},{"x":251.8844451904297,"y":258.0765380859375},{"x":278.16375732421875,"y":257.6438293457031},{"x":356.17840576171875,"y":254.68846130371094},{"x":381.4485168457031,"y":253.92921447753906},{"x":36.72287368774414,"y":291.4912414550781},{"x":63.78819274902344,"y":290.52935791015625},{"x":91.16138458251953,"y":289.3833923339844},{"x":118.34037780761719,"y":288.31787109375},{"x":145.35287475585938,"y":287.6177062988281},{"x":172.1075439453125,"y":286.6214294433594},{"x":198.61940002441406,"y":285.14422607421875},{"x":225.7146759033203,"y":285.16949462890625},{"x":252.04331970214844,"y":283.9587097167969},{"x":278.6643371582031,"y":283.11004638671875},{"x":304.9018859863281,"y":282.2250671386719},{"x":330.9211120605469,"y":281.7947692871094},{"x":357.3952331542969,"y":280.8374328613281},{"x":382.7613830566406,"y":279.3705139160156},{"x":36.23487854003906,"y":317.35174560546875},{"x":63.5184326171875,"y":316.7345275878906},{"x":90.85549926757812,"y":315.824951171875},{"x":172.97479248046875,"y":313.09869384765625},{"x":199.33004760742188,"y":311.82830810546875},{"x":226.47238159179688,"y":310.88287353515625},{"x":252.48611450195312,"y":310.0293273925781},{"x":278.730712890625,"y":308.6248779296875},{"x":305.3424072265625,"y":308.2684020996094},{"x":332.12078857421875,"y":307.32598876953125},{"x":358.2702331542969,"y":305.83953857421875},{"x":384.0091247558594,"y":305.2834167480469},{"x":35.3181266784668,"y":344.4084777832031},{"x":63.200103759765625,"y":343.1925964355469},{"x":90.27406311035156,"y":341.7461853027344},{"x":172.6463623046875,"y":339.02142333984375},{"x":198.94192504882812,"y":337.37158203125},{"x":226.7229461669922,"y":337.0563659667969},{"x":252.95028686523438,"y":335.89056396484375},{"x":279.73065185546875,"y":335.0007629394531},{"x":305.545166015625,"y":333.71612548828125},{"x":332.80426025390625,"y":332.72039794921875},{"x":358.8232727050781,"y":332.12677001953125},{"x":384.7183532714844,"y":331.7110595703125},{"x":34.72869873046875,"y":371.8563537597656},{"x":62.83887481689453,"y":370.5646667480469},{"x":90.36819458007812,"y":369.0840148925781},{"x":117.3691177368164,"y":367.55242919921875},{"x":145.65208435058594,"y":366.54083251953125},{"x":172.29026794433594,"y":365.2973327636719},{"x":200.26124572753906,"y":364.3311767578125},{"x":227.0338134765625,"y":363.84710693359375},{"x":253.5274658203125,"y":362.15692138671875},{"x":280.411376953125,"y":361.36962890625},{"x":306.7609558105469,"y":360.2330322265625},{"x":333.0830993652344,"y":359.06280517578125},{"x":359.571533203125,"y":358.4913024902344},{"x":385.3069152832031,"y":357.15411376953125},{"x":34.700923919677734,"y":398.8381042480469},{"x":62.09772872924805,"y":397.60150146484375},{"x":89.99610137939453,"y":396.1587829589844},{"x":117.40596771240234,"y":395.2041931152344},{"x":145.39146423339844,"y":393.968505859375},{"x":172.8297882080078,"y":392.3926086425781},{"x":200.0841064453125,"y":391.7853088378906},{"x":227.1250762939453,"y":390.0682067871094},{"x":253.87213134765625,"y":389.1167297363281},{"x":281.0908508300781,"y":388.0422058105469},{"x":307.9305419921875,"y":386.9273681640625},{"x":333.9835510253906,"y":385.467041015625},{"x":360.1928405761719,"y":384.3569641113281},{"x":386.8439636230469,"y":383.1227111816406},{"x":33.825496673583984,"y":426.21783447265625},{"x":61.247100830078125,"y":424.3115234375},{"x":89.6340103149414,"y":423.4002990722656},{"x":117.36843872070312,"y":422.27471923828125},{"x":145.020751953125,"y":420.6753845214844},{"x":172.7249755859375,"y":419.80352783203125},{"x":199.80604553222656,"y":418.6512756347656},{"x":227.469970703125,"y":417.0450134277344},{"x":254.46841430664062,"y":415.97479248046875},{"x":281.4570617675781,"y":414.3340759277344},{"x":308.2061767578125,"y":413.3067932128906},{"x":334.23992919921875,"y":411.8309631347656},{"x":361.6865539550781,"y":410.2731628417969},{"x":387.7598876953125,"y":410.3502197265625},{"x":33.20682144165039,"y":453.5515441894531},{"x":61.09539031982422,"y":452.3433532714844},{"x":89.25245666503906,"y":451.0768127441406},{"x":116.94401550292969,"y":449.82275390625},{"x":144.35926818847656,"y":447.97918701171875},{"x":172.43704223632812,"y":447.0566101074219},{"x":199.47860717773438,"y":445.29034423828125},{"x":227.21067810058594,"y":444.23736572265625},{"x":254.3941650390625,"y":442.99127197265625},{"x":281.9556884765625,"y":441.7579040527344},{"x":308.7834167480469,"y":440.0189208984375},{"x":335.501220703125,"y":438.98468017578125},{"x":361.4565734863281,"y":437.5409851074219},{"x":388.38128662109375,"y":437.1468811035156}],"reprojectionErrors":[{"x":-0.126220703125,"y":-0.0497894287109375},{"x":0.374847412109375,"y":0.0531005859375},{"x":0.649169921875,"y":-0.07928466796875},{"x":-0.1924896240234375,"y":0.2152862548828125},{"x":-0.1492156982421875,"y":0.58843994140625},{"x":-0.103179931640625,"y":0.02093505859375},{"x":0.17206192016601562,"y":-0.047149658203125},{"x":0.06417083740234375,"y":-0.071685791015625},{"x":0.029144287109375,"y":0.0840911865234375},{"x":0.454437255859375,"y":0.20001220703125},{"x":0.20528411865234375,"y":0.133270263671875},{"x":0.71923828125,"y":0.407928466796875},{"x":0.0540924072265625,"y":0.462738037109375},{"x":0.281829833984375,"y":0.193603515625},{"x":0.185028076171875,"y":0.0498046875},{"x":0.1933746337890625,"y":0.540069580078125},{"x":-0.031284332275390625,"y":-0.334320068359375},{"x":0.323211669921875,"y":-0.280914306640625},{"x":0.23096466064453125,"y":-0.039520263671875},{"x":0.1955718994140625,"y":0.12530517578125},{"x":0.190826416015625,"y":-0.0714111328125},{"x":0.309539794921875,"y":0.031768798828125},{"x":0.538177490234375,"y":0.61962890625},{"x":0.05194091796875,"y":-0.291290283203125},{"x":0.2023162841796875,"y":0.0374755859375},{"x":-0.068328857421875,"y":0.00775146484375},{"x":-0.5059814453125,"y":-0.33355712890625},{"x":-0.02252197265625,"y":0.269012451171875},{"x":-0.03890228271484375,"y":0.27960205078125},{"x":0.21910858154296875,"y":-0.082366943359375},{"x":0.28350830078125,"y":-0.14752197265625},{"x":-0.4566192626953125,"y":-0.31927490234375},{"x":0.04443359375,"y":-0.00634765625},{"x":-0.374176025390625,"y":-0.01416015625},{"x":0.20465087890625,"y":-0.109710693359375},{"x":0.42291259765625,"y":0.3497314453125},{"x":0.145751953125,"y":-0.234710693359375},{"x":-0.425048828125,"y":-0.229248046875},{"x":-0.492462158203125,"y":0.324249267578125},{"x":-0.2735595703125,"y":-0.04864501953125},{"x":0.3512153625488281,"y":-0.07244873046875},{"x":0.13590240478515625,"y":0.092254638671875},{"x":0.587249755859375,"y":0.49249267578125},{"x":-0.041748046875,"y":0.108123779296875},{"x":0.637969970703125,"y":0.731201171875},{"x":-0.02166748046875,"y":0.049774169921875},{"x":0.612762451171875,"y":0.326171875},{"x":-0.325469970703125,"y":0.31817626953125},{"x":-0.150238037109375,"y":-0.08746337890625},{"x":0.023590087890625,"y":-0.6666259765625},{"x":0.3824424743652344,"y":-0.57586669921875},{"x":0.06745529174804688,"y":-0.40869140625},{"x":0.19066619873046875,"y":-0.046966552734375},{"x":0.7012100219726562,"y":0.37115478515625},{"x":-0.2098236083984375,"y":0.274688720703125},{"x":0.385955810546875,"y":0.41552734375},{"x":-0.4875335693359375,"y":0.2843017578125},{"x":-0.14910888671875,"y":-0.01507568359375},{"x":0.067718505859375,"y":0.04473876953125},{"x":0.182769775390625,"y":0.143218994140625},{"x":0.0037841796875,"y":-0.35205078125},{"x":0.451446533203125,"y":-0.076751708984375},{"x":-0.18012619018554688,"y":-0.363555908203125},{"x":0.3502960205078125,"y":-0.326202392578125},{"x":0.23514556884765625,"y":-0.07659912109375},{"x":0.4661102294921875,"y":-0.30908203125},{"x":-0.0193939208984375,"y":-0.254486083984375},{"x":-0.0969696044921875,"y":0.146240234375},{"x":-0.1282806396484375,"y":-0.415802001953125},{"x":-0.08245849609375,"y":0.13775634765625},{"x":0.1225433349609375,"y":-0.068572998046875},{"x":-0.27734375,"y":-0.146240234375},{"x":-0.42999267578125,"y":-0.177978515625},{"x":0.07366943359375,"y":0.14129638671875},{"x":0.292144775390625,"y":0.115814208984375},{"x":-0.05877685546875,"y":0.21990966796875},{"x":0.07222366333007812,"y":-0.28948974609375},{"x":0.7134666442871094,"y":0.34136962890625},{"x":0.2440185546875,"y":-0.016143798828125},{"x":0.283294677734375,"y":-0.1527099609375},{"x":0.26251220703125,"y":0.191070556640625},{"x":0.049224853515625,"y":-0.1861572265625},{"x":0.320068359375,"y":-0.276611328125},{"x":-0.12945556640625,"y":0.09332275390625},{"x":-0.0494842529296875,"y":-0.0665283203125},{"x":-0.094207763671875,"y":0.350311279296875},{"x":-0.03240966796875,"y":0.15985107421875},{"x":0.6131591796875,"y":0.42401123046875},{"x":-0.284271240234375,"y":0.776123046875},{"x":0.062896728515625,"y":-0.50067138671875},{"x":0.034454345703125,"y":0.100799560546875},{"x":0.3480339050292969,"y":-0.044219970703125},{"x":0.24629974365234375,"y":-0.12359619140625},{"x":0.46490478515625,"y":-0.208221435546875},{"x":0.816253662109375,"y":0.303802490234375},{"x":0.363128662109375,"y":-0.098114013671875},{"x":0.8058319091796875,"y":0.350677490234375},{"x":0.419189453125,"y":0.093048095703125},{"x":0.44384765625,"y":0.035400390625},{"x":-0.045318603515625,"y":-0.028228759765625},{"x":0.065032958984375,"y":0.420440673828125},{"x":0.1524658203125,"y":0.170989990234375},{"x":0.87103271484375,"y":0.3375244140625},{"x":0.490264892578125,"y":-0.5390625}],"optimisedCameraToObject":{"translation":{"x":-0.21364804026651904,"y":-0.05518929483926295,"z":0.398946784274185},"rotation":{"quaternion":{"W":0.9975044255807112,"X":-0.05998792613408902,"Y":-0.03142298653687581,"Z":-0.01997412281252408}}},"cornersUsed":[true,false,false,true,true,true,true,true,true,true,false,false,false,false,true,false,false,true,true,true,true,true,true,true,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],"snapshotName":"img2.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/b2736a45-c86e-4793-aa1d-4d2ccd4b4507/imgs/800x600/img2.png"},{"locationInObjectSpace":[{"x":0.07492999732494354,"y":0.0,"z":5.340230927686207E-5},{"x":0.08991599828004837,"y":0.0,"z":5.696246444131248E-5},{"x":0.1049019992351532,"y":0.0,"z":5.814918040414341E-5},{"x":0.0,"y":0.014986000023782253,"z":1.4121037384029478E-4},{"x":0.07492999732494354,"y":0.014986000023782253,"z":1.9461268675513566E-4},{"x":0.08991599828004837,"y":0.014986000023782253,"z":1.9817284191958606E-4},{"x":0.1049019992351532,"y":0.014986000023782253,"z":1.9935955060645938E-4},{"x":0.0,"y":0.029971998184919357,"z":2.510406484361738E-4},{"x":0.014986000023782253,"y":0.029971998184919357,"z":2.6646797778084874E-4},{"x":0.029971998184919357,"y":0.029971998184919357,"z":2.7952188975177705E-4},{"x":0.044957999140024185,"y":0.029971998184919357,"z":2.902023552451283E-4},{"x":0.059943996369838715,"y":0.029971998184919357,"z":2.985093742609024E-4},{"x":0.07492999732494354,"y":0.029971998184919357,"z":3.044429759029299E-4},{"x":0.08991599828004837,"y":0.029971998184919357,"z":3.080031310673803E-4},{"x":0.0,"y":0.044957999140024185,"z":3.2949086744338274E-4},{"x":0.014986000023782253,"y":0.044957999140024185,"z":3.449181967880577E-4},{"x":0.029971998184919357,"y":0.044957999140024185,"z":3.57972108758986E-4},{"x":0.044957999140024185,"y":0.044957999140024185,"z":3.686525742523372E-4},{"x":0.08991599828004837,"y":0.044957999140024185,"z":3.864533209707588E-4},{"x":0.0,"y":0.059943996369838715,"z":3.765609872061759E-4},{"x":0.014986000023782253,"y":0.059943996369838715,"z":3.9198831655085087E-4},{"x":0.029971998184919357,"y":0.059943996369838715,"z":4.050422285217792E-4},{"x":0.044957999140024185,"y":0.059943996369838715,"z":4.157226940151304E-4},{"x":0.08991599828004837,"y":0.059943996369838715,"z":4.33523440733552E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":4.3471017852425575E-4},{"x":0.0,"y":0.07492999732494354,"z":3.922510368283838E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":4.0767836617305875E-4},{"x":0.029971998184919357,"y":0.07492999732494354,"z":4.2073227814398706E-4},{"x":0.044957999140024185,"y":0.07492999732494354,"z":4.314127436373383E-4},{"x":0.0,"y":0.08991599828004837,"z":3.765609872061759E-4},{"x":0.014986000023782253,"y":0.08991599828004837,"z":3.919883456546813E-4},{"x":0.029971998184919357,"y":0.08991599828004837,"z":4.050422285217792E-4},{"x":0.044957999140024185,"y":0.08991599828004837,"z":4.157226940151304E-4},{"x":0.0,"y":0.1049019992351532,"z":3.2949086744338274E-4},{"x":0.014986000023782253,"y":0.1049019992351532,"z":3.449181967880577E-4},{"x":0.029971998184919357,"y":0.1049019992351532,"z":3.57972108758986E-4},{"x":0.044957999140024185,"y":0.1049019992351532,"z":3.686525742523372E-4},{"x":0.059943996369838715,"y":0.1049019992351532,"z":3.7695959326811135E-4},{"x":0.07492999732494354,"y":0.1049019992351532,"z":3.8289319491013885E-4},{"x":0.08991599828004837,"y":0.1049019992351532,"z":3.8645335007458925E-4},{"x":0.1049019992351532,"y":0.1049019992351532,"z":3.8764005876146257E-4},{"x":0.0,"y":0.11988800019025803,"z":2.5104067754000425E-4},{"x":0.014986000023782253,"y":0.11988800019025803,"z":2.664680068846792E-4},{"x":0.029971998184919357,"y":0.11988800019025803,"z":2.7952188975177705E-4},{"x":0.07492999732494354,"y":0.11988800019025803,"z":3.044429759029299E-4},{"x":0.08991599828004837,"y":0.11988800019025803,"z":3.080031310673803E-4},{"x":0.029971998184919357,"y":0.13487400114536285,"z":1.696916006039828E-4},{"x":0.07492999732494354,"y":0.13487400114536285,"z":1.9461267220322043E-4},{"x":0.08991599828004837,"y":0.13487400114536285,"z":1.9817282736767083E-4}],"locationInImageSpace":[{"x":705.8120727539062,"y":193.99249267578125},{"x":730.792236328125,"y":192.29522705078125},{"x":756.5179443359375,"y":191.16278076171875},{"x":577.5310668945312,"y":226.79754638671875},{"x":707.988525390625,"y":219.7546844482422},{"x":732.9336547851562,"y":217.9016876220703},{"x":758.6740112304688,"y":216.70303344726562},{"x":580.1640014648438,"y":253.42979431152344},{"x":606.2461547851562,"y":251.81655883789062},{"x":633.2770385742188,"y":250.7416534423828},{"x":658.1862182617188,"y":248.76754760742188},{"x":684.8787841796875,"y":246.6573486328125},{"x":710.5031127929688,"y":246.5579376220703},{"x":735.8070678710938,"y":243.94590759277344},{"x":582.0736083984375,"y":279.65167236328125},{"x":609.2815551757812,"y":277.9590148925781},{"x":634.5712280273438,"y":276.6859436035156},{"x":660.915771484375,"y":275.5351867675781},{"x":737.818359375,"y":270.1699523925781},{"x":584.3974609375,"y":307.1906433105469},{"x":611.569091796875,"y":305.0400085449219},{"x":636.8932495117188,"y":304.1097412109375},{"x":662.9163208007812,"y":301.3642883300781},{"x":740.3195190429688,"y":296.7721252441406},{"x":765.6781616210938,"y":295.1906433105469},{"x":586.1837158203125,"y":332.7628173828125},{"x":613.0274658203125,"y":331.96136474609375},{"x":639.1532592773438,"y":330.30169677734375},{"x":665.9532470703125,"y":327.7298278808594},{"x":589.132568359375,"y":360.2691345214844},{"x":615.0149536132812,"y":358.617431640625},{"x":642.0810546875,"y":356.7953186035156},{"x":667.7470092773438,"y":354.9091796875},{"x":591.258544921875,"y":387.7219543457031},{"x":617.9036865234375,"y":385.9844970703125},{"x":644.226806640625,"y":383.6719055175781},{"x":670.6194458007812,"y":381.6860046386719},{"x":696.192138671875,"y":380.3103332519531},{"x":723.1491088867188,"y":377.94744873046875},{"x":747.7992553710938,"y":376.4814453125},{"x":774.1305541992188,"y":374.1595764160156},{"x":594.2385864257812,"y":414.0736389160156},{"x":620.2090454101562,"y":412.92138671875},{"x":646.6636962890625,"y":411.12481689453125},{"x":724.4532470703125,"y":404.9521484375},{"x":750.5642700195312,"y":403.9996032714844},{"x":649.3783569335938,"y":438.22906494140625},{"x":728.179931640625,"y":432.1505432128906},{"x":753.87939453125,"y":430.3337097167969}],"reprojectionErrors":[{"x":0.06744384765625,"y":0.36529541015625},{"x":-0.25262451171875,"y":0.1307220458984375},{"x":0.028564453125,"y":0.0150604248046875},{"x":0.2518310546875,"y":0.358367919921875},{"x":0.08709716796875,"y":-0.501495361328125},{"x":-0.81536865234375,"y":-0.0128173828125},{"x":0.010009765625,"y":-0.7371826171875},{"x":-0.661865234375,"y":0.598785400390625},{"x":-0.24798583984375,"y":0.148895263671875},{"x":0.25604248046875,"y":0.00567626953125},{"x":-0.54437255859375,"y":0.041229248046875},{"x":-0.06414794921875,"y":0.149017333984375},{"x":-0.131591796875,"y":-0.2393798828125},{"x":-0.32818603515625,"y":-0.364471435546875},{"x":-0.2974853515625,"y":-0.161773681640625},{"x":-0.36102294921875,"y":-0.286895751953125},{"x":0.30438232421875,"y":0.175689697265625},{"x":0.10980224609375,"y":-0.757110595703125},{"x":-0.5113525390625,"y":-0.140411376953125}],"optimisedCameraToObject":{"translation":{"x":0.09199227795038607,"y":-0.06151856346908054,"z":0.3942593372048217},"rotation":{"quaternion":{"W":0.9985403208644443,"X":-0.032523879544176085,"Y":-0.028714485635273308,"Z":-0.03216991112872535}}},"cornersUsed":[false,false,false,false,false,true,true,true,false,false,false,false,false,false,true,false,false,false,false,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,false,false,true,false,false,false,false,false,false,false,true,true,true,true,false,false,true,true,false,false,false,false,false,false,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,false,false,true,true,false,false,false,false,false,false,false,false,false,true,false,false,true,true,false,false,false,false,false,false,false],"snapshotName":"img3.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/b2736a45-c86e-4793-aa1d-4d2ccd4b4507/imgs/800x600/img3.png"},{"locationInObjectSpace":[{"x":0.0,"y":0.0,"z":0.0},{"x":0.014986000023782253,"y":0.0,"z":1.5427334801643156E-5},{"x":0.13487400114536285,"y":0.0,"z":5.340230927686207E-5},{"x":0.014986000023782253,"y":0.014986000955104828,"z":1.5663771773688495E-4},{"x":0.014986000023782253,"y":0.029972001910209656,"z":2.664680068846792E-4},{"x":0.029971998184919357,"y":0.029972001910209656,"z":2.795219188556075E-4},{"x":0.044957999140024185,"y":0.029972001910209656,"z":2.9020238434895873E-4},{"x":0.0,"y":0.044958002865314484,"z":3.294908965472132E-4},{"x":0.014986000023782253,"y":0.044958002865314484,"z":3.4491822589188814E-4},{"x":0.029971998184919357,"y":0.044958002865314484,"z":3.57972108758986E-4},{"x":0.11988800019025803,"y":0.044958002865314484,"z":3.8645335007458925E-4},{"x":0.029971998184919357,"y":0.059943996369838715,"z":4.050422285217792E-4},{"x":0.07492999732494354,"y":0.059943996369838715,"z":4.2996328556910157E-4},{"x":0.08991599828004837,"y":0.059943996369838715,"z":4.33523440733552E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":4.3471017852425575E-4},{"x":0.11988800019025803,"y":0.059943996369838715,"z":4.33523440733552E-4}],"locationInImageSpace":[{"x":406.302490234375,"y":39.89466094970703},{"x":431.0169982910156,"y":39.392154693603516},{"x":612.6541137695312,"y":33.094852447509766},{"x":433.9169921875,"y":63.663246154785156},{"x":436.3735046386719,"y":87.52720642089844},{"x":460.34197998046875,"y":86.50106048583984},{"x":484.18701171875,"y":85.03235626220703},{"x":415.10540771484375,"y":113.87236022949219},{"x":439.7401428222656,"y":111.7371597290039},{"x":463.5581970214844,"y":110.09050750732422},{"x":600.5950317382812,"y":102.85063171386719},{"x":466.192626953125,"y":134.17001342773438},{"x":536.473876953125,"y":130.09640502929688},{"x":559.3248901367188,"y":128.4535675048828},{"x":581.314208984375,"y":127.48306274414062},{"x":604.2072143554688,"y":126.23200225830078}],"reprojectionErrors":[],"optimisedCameraToObject":{"translation":{"x":-0.0037746802259123065,"y":-0.1624753840160895,"z":0.42201625097156925},"rotation":{"quaternion":{"W":0.9935565995010871,"X":-0.03358564130996463,"Y":-0.09223739521390209,"Z":-0.05665290115950997}}},"cornersUsed":[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,true,false,false,false,false,false,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,true,false,false,false,false,false,false,false,true,false,false,true,true,true,true,false,false,false,false,false],"snapshotName":"img4.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/b2736a45-c86e-4793-aa1d-4d2ccd4b4507/imgs/800x600/img4.png"},{"locationInObjectSpace":[{"x":0.08991600573062897,"y":0.0,"z":5.696246444131248E-5},{"x":0.1049019992351532,"y":0.0,"z":5.814918040414341E-5},{"x":0.11988800764083862,"y":0.0,"z":5.696246080333367E-5},{"x":0.13487400114536285,"y":0.0,"z":5.340230927686207E-5},{"x":0.14986000955104828,"y":0.0,"z":4.746871491079219E-5},{"x":0.1648460030555725,"y":0.0,"z":3.916169225703925E-5},{"x":0.029971998184919357,"y":0.014986000023782253,"z":1.696916006039828E-4},{"x":0.044957999140024185,"y":0.014986000023782253,"z":1.8037206609733403E-4},{"x":0.08991600573062897,"y":0.014986000023782253,"z":1.9817284191958606E-4},{"x":0.1049019992351532,"y":0.014986000023782253,"z":1.9935955060645938E-4},{"x":0.11988800764083862,"y":0.014986000023782253,"z":1.9817284191958606E-4},{"x":0.13487400114536285,"y":0.014986000023782253,"z":1.9461268675513566E-4},{"x":0.14986000955104828,"y":0.014986000023782253,"z":1.8867908511310816E-4},{"x":0.1648460030555725,"y":0.014986000023782253,"z":1.8037206609733403E-4},{"x":0.08991600573062897,"y":0.029971998184919357,"z":3.080031310673803E-4},{"x":0.1049019992351532,"y":0.029971998184919357,"z":3.091898397542536E-4},{"x":0.11988800764083862,"y":0.029971998184919357,"z":3.0800310196354985E-4},{"x":0.13487400114536285,"y":0.029971998184919357,"z":3.044429759029299E-4},{"x":0.14986000955104828,"y":0.029971998184919357,"z":2.985093742609024E-4},{"x":0.1648460030555725,"y":0.029971998184919357,"z":2.902023552451283E-4},{"x":0.07492999732494354,"y":0.044957999140024185,"z":3.828931658063084E-4},{"x":0.08991600573062897,"y":0.044957999140024185,"z":3.864533209707588E-4},{"x":0.1049019992351532,"y":0.044957999140024185,"z":3.8764005876146257E-4},{"x":0.11988800764083862,"y":0.044957999140024185,"z":3.864533209707588E-4},{"x":0.13487400114536285,"y":0.044957999140024185,"z":3.828931658063084E-4},{"x":0.14986000955104828,"y":0.044957999140024185,"z":3.7695959326811135E-4},{"x":0.1648460030555725,"y":0.044957999140024185,"z":3.686525742523372E-4},{"x":0.0,"y":0.059943996369838715,"z":3.765609872061759E-4},{"x":0.014986000955104828,"y":0.059943996369838715,"z":3.9198831655085087E-4},{"x":0.029971998184919357,"y":0.059943996369838715,"z":4.050422285217792E-4},{"x":0.044957999140024185,"y":0.059943996369838715,"z":4.157226940151304E-4},{"x":0.05994400009512901,"y":0.059943996369838715,"z":4.2402971303090453E-4},{"x":0.07492999732494354,"y":0.059943996369838715,"z":4.2996328556910157E-4},{"x":0.08991600573062897,"y":0.059943996369838715,"z":4.33523440733552E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":4.3471017852425575E-4},{"x":0.11988800764083862,"y":0.059943996369838715,"z":4.33523440733552E-4},{"x":0.1648460030555725,"y":0.059943996369838715,"z":4.157226940151304E-4},{"x":0.0,"y":0.07492999732494354,"z":3.922510368283838E-4},{"x":0.014986000955104828,"y":0.07492999732494354,"z":4.0767836617305875E-4},{"x":0.029971998184919357,"y":0.07492999732494354,"z":4.2073227814398706E-4},{"x":0.044957999140024185,"y":0.07492999732494354,"z":4.314127436373383E-4},{"x":0.05994400009512901,"y":0.07492999732494354,"z":4.397197626531124E-4},{"x":0.07492999732494354,"y":0.07492999732494354,"z":4.4565333519130945E-4},{"x":0.08991600573062897,"y":0.07492999732494354,"z":4.4921349035575986E-4},{"x":0.1049019992351532,"y":0.07492999732494354,"z":4.5040022814646363E-4},{"x":0.11988800764083862,"y":0.07492999732494354,"z":4.4921349035575986E-4},{"x":0.1648460030555725,"y":0.07492999732494354,"z":4.314127436373383E-4},{"x":0.0,"y":0.08991599828004837,"z":3.765609872061759E-4},{"x":0.014986000955104828,"y":0.08991599828004837,"z":3.919883456546813E-4},{"x":0.029971998184919357,"y":0.08991599828004837,"z":4.050422285217792E-4},{"x":0.044957999140024185,"y":0.08991599828004837,"z":4.157226940151304E-4},{"x":0.05994400009512901,"y":0.08991599828004837,"z":4.2402971303090453E-4},{"x":0.07492999732494354,"y":0.08991599828004837,"z":4.2996331467293203E-4},{"x":0.08991600573062897,"y":0.08991599828004837,"z":4.3352346983738244E-4},{"x":0.1049019992351532,"y":0.08991599828004837,"z":4.3471017852425575E-4},{"x":0.11988800764083862,"y":0.08991599828004837,"z":4.3352346983738244E-4},{"x":0.13487400114536285,"y":0.08991599828004837,"z":4.2996331467293203E-4},{"x":0.14986000955104828,"y":0.08991599828004837,"z":4.2402971303090453E-4},{"x":0.1648460030555725,"y":0.08991599828004837,"z":4.157226940151304E-4},{"x":0.029971998184919357,"y":0.1049019992351532,"z":3.57972108758986E-4},{"x":0.044957999140024185,"y":0.1049019992351532,"z":3.686525742523372E-4},{"x":0.05994400009512901,"y":0.1049019992351532,"z":3.7695959326811135E-4},{"x":0.07492999732494354,"y":0.1049019992351532,"z":3.8289319491013885E-4},{"x":0.08991600573062897,"y":0.1049019992351532,"z":3.8645335007458925E-4},{"x":0.1049019992351532,"y":0.1049019992351532,"z":3.8764005876146257E-4},{"x":0.14986000955104828,"y":0.1049019992351532,"z":3.7695959326811135E-4},{"x":0.1648460030555725,"y":0.1049019992351532,"z":3.686525742523372E-4},{"x":0.029971998184919357,"y":0.11988800019025803,"z":2.7952188975177705E-4},{"x":0.044957999140024185,"y":0.11988800019025803,"z":2.902023552451283E-4},{"x":0.05994400009512901,"y":0.11988800019025803,"z":2.985093742609024E-4},{"x":0.07492999732494354,"y":0.11988800019025803,"z":3.044429759029299E-4},{"x":0.08991600573062897,"y":0.11988800019025803,"z":3.080031310673803E-4},{"x":0.1049019992351532,"y":0.11988800019025803,"z":3.091898397542536E-4},{"x":0.14986000955104828,"y":0.11988800019025803,"z":2.985093742609024E-4},{"x":0.1648460030555725,"y":0.11988800019025803,"z":2.902023552451283E-4},{"x":0.0,"y":0.13487400114536285,"z":1.4121035928837955E-4},{"x":0.014986000955104828,"y":0.13487400114536285,"z":1.5663770318496972E-4},{"x":0.029971998184919357,"y":0.13487400114536285,"z":1.696916006039828E-4},{"x":0.044957999140024185,"y":0.13487400114536285,"z":1.803720515454188E-4},{"x":0.05994400009512901,"y":0.13487400114536285,"z":1.8867908511310816E-4},{"x":0.07492999732494354,"y":0.13487400114536285,"z":1.9461267220322043E-4},{"x":0.08991600573062897,"y":0.13487400114536285,"z":1.9817282736767083E-4},{"x":0.1049019992351532,"y":0.13487400114536285,"z":1.9935955060645938E-4},{"x":0.11988800764083862,"y":0.13487400114536285,"z":1.9817282736767083E-4},{"x":0.13487400114536285,"y":0.13487400114536285,"z":1.9461267220322043E-4},{"x":0.14986000955104828,"y":0.13487400114536285,"z":1.8867908511310816E-4},{"x":0.1648460030555725,"y":0.13487400114536285,"z":1.803720515454188E-4}],"locationInImageSpace":[{"x":198.83311462402344,"y":23.708513259887695},{"x":222.58929443359375,"y":26.413732528686523},{"x":246.0169219970703,"y":29.243793487548828},{"x":269.16607666015625,"y":32.11708450317383},{"x":291.6277770996094,"y":34.96351623535156},{"x":313.8710632324219,"y":37.750038146972656},{"x":96.99592590332031,"y":31.60622215270996},{"x":123.88404846191406,"y":34.68943405151367},{"x":198.79296875,"y":43.25064468383789},{"x":223.02813720703125,"y":46.10204315185547},{"x":246.8525390625,"y":49.06100845336914},{"x":269.815673828125,"y":51.772274017333984},{"x":292.7901306152344,"y":54.10350036621094},{"x":314.9486389160156,"y":56.298797607421875},{"x":199.18655395507812,"y":63.64980697631836},{"x":223.66445922851562,"y":66.03414154052734},{"x":247.2939910888672,"y":68.72946166992188},{"x":270.4753112792969,"y":71.14863586425781},{"x":293.6432189941406,"y":73.54185485839844},{"x":315.9150390625,"y":75.93014526367188},{"x":173.92056274414062,"y":81.68992614746094},{"x":199.27508544921875,"y":83.87272644042969},{"x":223.9064178466797,"y":86.48267364501953},{"x":247.94798278808594,"y":88.80113220214844},{"x":271.64599609375,"y":90.9749984741211},{"x":294.3664245605469,"y":93.15092468261719},{"x":317.23541259765625,"y":95.7930679321289},{"x":38.83696746826172,"y":89.11325073242188},{"x":66.88816833496094,"y":92.08857727050781},{"x":94.36995697021484,"y":94.70028686523438},{"x":121.60550689697266,"y":97.39492797851562},{"x":148.0264434814453,"y":99.85148620605469},{"x":174.15670776367188,"y":102.52793884277344},{"x":199.14120483398438,"y":104.95597839355469},{"x":224.44708251953125,"y":106.94548797607422},{"x":248.7929229736328,"y":109.05010986328125},{"x":318.4819030761719,"y":115.3968505859375},{"x":36.26585006713867,"y":111.96984100341797},{"x":64.96803283691406,"y":114.90145874023438},{"x":93.30883026123047,"y":116.6939468383789},{"x":120.85013580322266,"y":118.87911987304688},{"x":147.61732482910156,"y":121.16053771972656},{"x":173.88311767578125,"y":123.67070770263672},{"x":199.26560974121094,"y":125.5134048461914},{"x":224.79742431640625,"y":127.89309692382812},{"x":249.2339630126953,"y":130.02749633789062},{"x":319.6119079589844,"y":135.8188018798828},{"x":34.73904037475586,"y":135.02659606933594},{"x":64.14229583740234,"y":137.00555419921875},{"x":92.05230712890625,"y":139.4311065673828},{"x":120.33233642578125,"y":141.14857482910156},{"x":147.30628967285156,"y":143.19174194335938},{"x":174.0525360107422,"y":145.25363159179688},{"x":199.7078399658203,"y":147.41412353515625},{"x":225.3181915283203,"y":149.0149383544922},{"x":250.2836151123047,"y":151.3525390625},{"x":274.1114196777344,"y":152.9241485595703},{"x":297.3478698730469,"y":154.5863800048828},{"x":320.9160461425781,"y":156.63511657714844},{"x":91.2659683227539,"y":161.77976989746094},{"x":119.79320526123047,"y":163.74830627441406},{"x":147.22840881347656,"y":165.67645263671875},{"x":174.04371643066406,"y":167.17652893066406},{"x":199.81044006347656,"y":169.1037139892578},{"x":225.84548950195312,"y":170.88427734375},{"x":298.81243896484375,"y":175.78541564941406},{"x":321.9801330566406,"y":177.04586791992188},{"x":90.32389068603516,"y":185.29367065429688},{"x":118.92131042480469,"y":186.9432373046875},{"x":146.23204040527344,"y":188.50303649902344},{"x":173.6963348388672,"y":190.22354125976562},{"x":200.20867919921875,"y":191.2530059814453},{"x":226.1138153076172,"y":193.13534545898438},{"x":299.8353576660156,"y":196.62583923339844},{"x":323.3384704589844,"y":197.9800262451172},{"x":29.91147232055664,"y":207.11944580078125},{"x":60.014793395996094,"y":207.6728057861328},{"x":89.25885009765625,"y":209.04547119140625},{"x":118.11662292480469,"y":210.20465087890625},{"x":146.0209503173828,"y":211.50914001464844},{"x":173.75254821777344,"y":212.8183135986328},{"x":200.32269287109375,"y":214.19970703125},{"x":226.8583221435547,"y":215.45640563964844},{"x":251.9495086669922,"y":216.69094848632812},{"x":276.6169738769531,"y":217.8111572265625},{"x":301.0230712890625,"y":218.8914337158203},{"x":324.949951171875,"y":219.717529296875}],"reprojectionErrors":[{"x":0.200439453125,"y":0.28923797607421875},{"x":0.097137451171875,"y":0.3020973205566406},{"x":-0.09674072265625,"y":0.14554214477539062},{"x":0.0850830078125,"y":0.17678070068359375},{"x":-0.21484375,"y":0.5300216674804688},{"x":-0.154754638671875,"y":0.9629440307617188},{"x":-0.102874755859375,"y":0.41919708251953125},{"x":0.031463623046875,"y":0.48625946044921875},{"x":-0.0660858154296875,"y":-0.0052947998046875},{"x":-0.04620361328125,"y":0.1065673828125},{"x":-0.186279296875,"y":0.30999755859375},{"x":0.1636962890625,"y":0.46002197265625},{"x":-0.107086181640625,"y":0.0941009521484375},{"x":-0.5267791748046875,"y":0.7647628784179688},{"x":-0.14154052734375,"y":0.28940582275390625},{"x":0.5017013549804688,"y":0.3946380615234375},{"x":0.5156478881835938,"y":-0.14376068115234375},{"x":0.22609710693359375,"y":0.39939117431640625},{"x":0.09439849853515625,"y":0.49428558349609375},{"x":0.117340087890625,"y":0.4392852783203125},{"x":0.52789306640625,"y":0.1115875244140625},{"x":-0.048126220703125,"y":0.4385833740234375},{"x":0.0493927001953125,"y":0.39117431640625},{"x":-0.2360992431640625,"y":0.27801513671875},{"x":-0.0205230712890625,"y":0.02081298828125},{"x":-0.33001708984375,"y":0.2794036865234375},{"x":-0.545562744140625,"y":-0.2412261962890625},{"x":-0.056640625,"y":-0.3138275146484375},{"x":0.3333282470703125,"y":0.6602630615234375},{"x":-0.187103271484375,"y":0.490570068359375},{"x":-0.2615966796875,"y":0.3178253173828125},{"x":-0.33978271484375,"y":0.5312347412109375},{"x":0.0285186767578125,"y":0.2770538330078125},{"x":-0.4531402587890625,"y":0.1303863525390625},{"x":-0.058013916015625,"y":-0.090789794921875},{"x":0.1885986328125,"y":0.1388397216796875},{"x":0.3356170654296875,"y":0.349029541015625},{"x":-0.3058319091796875,"y":0.01727294921875},{"x":0.04632568359375,"y":0.5314483642578125},{"x":0.174346923828125,"y":0.451446533203125},{"x":0.23871421813964844,"y":-0.11273193359375},{"x":0.20090103149414062,"y":0.6761627197265625},{"x":0.2958526611328125,"y":0.611541748046875},{"x":0.07704925537109375,"y":0.727447509765625},{"x":0.1368560791015625,"y":0.6662445068359375},{"x":-0.2814788818359375,"y":0.5697174072265625},{"x":-0.2201690673828125,"y":0.1616058349609375},{"x":-0.056915283203125,"y":0.3595733642578125}],"optimisedCameraToObject":{"translation":{"x":-0.22384492409899556,"y":-0.18553682787427672,"z":0.4248880572740372},"rotation":{"quaternion":{"W":0.9754981546644559,"X":-0.14966731387026438,"Y":-0.15960171051075267,"Z":-0.02302909913876156}}},"cornersUsed":[false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,true,true,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,false,false,true,false,false,true,true,true,true,true,true,true,true,true,false,false,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,true,true,true,true,true,true,false,false,true,true,false,false,false,false,true,true,true,true,true,true,false,false,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true],"snapshotName":"img5.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/b2736a45-c86e-4793-aa1d-4d2ccd4b4507/imgs/800x600/img5.png"},{"locationInObjectSpace":[{"x":0.0,"y":0.0,"z":0.0},{"x":0.044957999140024185,"y":0.0,"z":3.916169225703925E-5},{"x":0.059943996369838715,"y":0.0,"z":4.7468718548770994E-5},{"x":0.07492999732494354,"y":0.0,"z":5.340230927686207E-5},{"x":0.08991599828004837,"y":0.0,"z":5.696246444131248E-5},{"x":0.13487400114536285,"y":0.0,"z":5.340230927686207E-5},{"x":0.17983201146125793,"y":0.0,"z":2.848122312570922E-5},{"x":0.0,"y":0.014986000023782253,"z":1.4121037384029478E-4},{"x":0.059943996369838715,"y":0.014986000023782253,"z":1.886790996650234E-4},{"x":0.07492999732494354,"y":0.014986000023782253,"z":1.9461268675513566E-4},{"x":0.08991599828004837,"y":0.014986000023782253,"z":1.9817284191958606E-4},{"x":0.0,"y":0.029971998184919357,"z":2.510406484361738E-4},{"x":0.014986000023782253,"y":0.029971998184919357,"z":2.6646797778084874E-4},{"x":0.059943996369838715,"y":0.029971998184919357,"z":2.985093742609024E-4},{"x":0.07492999732494354,"y":0.029971998184919357,"z":3.044429759029299E-4},{"x":0.08991599828004837,"y":0.029971998184919357,"z":3.080031310673803E-4},{"x":0.0,"y":0.044957999140024185,"z":3.2949086744338274E-4},{"x":0.014986000023782253,"y":0.044957999140024185,"z":3.449181967880577E-4},{"x":0.08991599828004837,"y":0.044957999140024185,"z":3.864533209707588E-4},{"x":0.0,"y":0.059943996369838715,"z":3.765609872061759E-4},{"x":0.08991599828004837,"y":0.059943996369838715,"z":4.33523440733552E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":4.3471017852425575E-4},{"x":0.11988800019025803,"y":0.059943996369838715,"z":4.33523440733552E-4},{"x":0.13487400114536285,"y":0.059943996369838715,"z":4.2996328556910157E-4},{"x":0.0,"y":0.07492999732494354,"z":3.922510368283838E-4},{"x":0.044957999140024185,"y":0.07492999732494354,"z":4.314127436373383E-4},{"x":0.08991599828004837,"y":0.07492999732494354,"z":4.4921349035575986E-4},{"x":0.1049019992351532,"y":0.07492999732494354,"z":4.5040022814646363E-4},{"x":0.11988800019025803,"y":0.07492999732494354,"z":4.4921349035575986E-4},{"x":0.13487400114536285,"y":0.07492999732494354,"z":4.4565333519130945E-4},{"x":0.0,"y":0.08991599828004837,"z":3.765609872061759E-4},{"x":0.014986000023782253,"y":0.08991599828004837,"z":3.919883456546813E-4},{"x":0.029971998184919357,"y":0.08991599828004837,"z":4.050422285217792E-4},{"x":0.044957999140024185,"y":0.08991599828004837,"z":4.157226940151304E-4},{"x":0.08991599828004837,"y":0.08991599828004837,"z":4.3352346983738244E-4},{"x":0.13487400114536285,"y":0.08991599828004837,"z":4.2996331467293203E-4},{"x":0.0,"y":0.1049019992351532,"z":3.2949086744338274E-4},{"x":0.014986000023782253,"y":0.1049019992351532,"z":3.449181967880577E-4},{"x":0.08991599828004837,"y":0.1049019992351532,"z":3.8645335007458925E-4},{"x":0.13487400114536285,"y":0.1049019992351532,"z":3.8289319491013885E-4},{"x":0.0,"y":0.11988800019025803,"z":2.5104067754000425E-4},{"x":0.014986000023782253,"y":0.11988800019025803,"z":2.664680068846792E-4},{"x":0.1049019992351532,"y":0.11988800019025803,"z":3.091898397542536E-4},{"x":0.11988800019025803,"y":0.11988800019025803,"z":3.080031310673803E-4},{"x":0.029971998184919357,"y":0.13487400114536285,"z":1.696916006039828E-4},{"x":0.044957999140024185,"y":0.13487400114536285,"z":1.803720515454188E-4},{"x":0.059943996369838715,"y":0.13487400114536285,"z":1.8867908511310816E-4},{"x":0.1049019992351532,"y":0.13487400114536285,"z":1.9935955060645938E-4},{"x":0.19481800496578217,"y":0.13487400114536285,"z":1.566376886330545E-4}],"locationInImageSpace":[{"x":420.28997802734375,"y":54.66282272338867},{"x":483.9893798828125,"y":58.184688568115234},{"x":504.8956604003906,"y":59.34860610961914},{"x":524.5669555664062,"y":59.612335205078125},{"x":545.3034057617188,"y":61.281856536865234},{"x":604.183837890625,"y":63.9559440612793},{"x":660.2197875976562,"y":66.8056640625},{"x":422.0694885253906,"y":74.80061340332031},{"x":507.10784912109375,"y":78.19457244873047},{"x":527.93359375,"y":79.23492431640625},{"x":547.9363403320312,"y":80.22359466552734},{"x":424.1632995605469,"y":94.80974578857422},{"x":445.9847717285156,"y":95.82097625732422},{"x":510.0425109863281,"y":98.01380920410156},{"x":530.1488647460938,"y":98.84662628173828},{"x":550.7952270507812,"y":99.80554962158203},{"x":426.3656311035156,"y":115.14586639404297},{"x":448.10614013671875,"y":115.95164489746094},{"x":553.6489868164062,"y":119.23778533935547},{"x":428.35821533203125,"y":136.00650024414062},{"x":556.5560913085938,"y":138.89637756347656},{"x":577.096435546875,"y":140.2134552001953},{"x":597.0997314453125,"y":140.43614196777344},{"x":616.9987182617188,"y":140.8538818359375},{"x":430.77557373046875,"y":157.24139404296875},{"x":496.1971130371094,"y":158.34378051757812},{"x":559.929443359375,"y":159.708984375},{"x":580.1995239257812,"y":160.31231689453125},{"x":600.6647338867188,"y":160.7610626220703},{"x":620.5079956054688,"y":160.982666015625},{"x":432.61358642578125,"y":178.49725341796875},{"x":455.1564025878906,"y":178.82765197753906},{"x":477.2351989746094,"y":179.07974243164062},{"x":499.55096435546875,"y":179.37928771972656},{"x":562.8974609375,"y":179.8985595703125},{"x":624.028564453125,"y":181.15550231933594},{"x":435.1285095214844,"y":200.20352172851562},{"x":457.92791748046875,"y":200.10025024414062},{"x":566.7869873046875,"y":201.34169006347656},{"x":627.380615234375,"y":201.2624969482422},{"x":437.3006896972656,"y":222.11207580566406},{"x":459.7532043457031,"y":221.91993713378906},{"x":590.0462036132812,"y":221.7626953125},{"x":610.9854736328125,"y":222.1655731201172},{"x":485.2113952636719,"y":243.87892150878906},{"x":507.4959411621094,"y":244.1245574951172},{"x":529.9296264648438,"y":243.92935180664062},{"x":593.639892578125,"y":242.93307495117188},{"x":714.6048583984375,"y":242.08294677734375}],"reprojectionErrors":[{"x":-0.2005615234375,"y":0.12868881225585938},{"x":0.42889404296875,"y":0.7166633605957031},{"x":-0.19091796875,"y":0.10276031494140625},{"x":-0.3406982421875,"y":0.4983329772949219},{"x":0.042724609375,"y":0.5794906616210938},{"x":-0.2752685546875,"y":0.3638153076171875},{"x":-0.04327392578125,"y":-0.02972412109375},{"x":0.22796630859375,"y":0.27994537353515625},{"x":0.01025390625,"y":0.35077667236328125},{"x":-0.152496337890625,"y":0.1969146728515625},{"x":0.0743408203125,"y":0.6275634765625},{"x":-0.3121337890625,"y":-0.263702392578125},{"x":-0.2362060546875,"y":-0.1182861328125},{"x":-0.00860595703125,"y":0.176116943359375},{"x":-0.4678955078125,"y":0.1343536376953125},{"x":-0.129150390625,"y":0.35687255859375},{"x":0.04180908203125,"y":0.3800506591796875},{"x":-0.2900390625,"y":-0.0869140625},{"x":-0.89080810546875,"y":0.0757598876953125}],"optimisedCameraToObject":{"translation":{"x":0.004927845546075507,"y":-0.1707179513003938,"z":0.4686772325940568},"rotation":{"quaternion":{"W":0.9853546319142498,"X":-0.12679013218784338,"Y":-0.11003988989493362,"Z":-0.029861921854317824}}},"cornersUsed":[true,false,false,true,true,true,true,false,false,true,false,false,true,false,true,false,false,false,true,true,true,false,false,false,false,false,false,false,true,true,false,false,true,true,true,false,false,false,false,false,false,false,true,true,false,false,false,false,true,false,false,false,false,false,false,false,true,false,false,false,false,false,true,true,true,true,false,false,false,false,true,false,false,true,false,false,true,true,true,true,false,false,false,false,true,true,true,true,false,false,true,false,false,true,false,false,false,false,true,true,false,false,false,false,true,false,false,true,false,false,false,false,true,true,false,false,false,false,false,true,true,false,false,false,false,false,false,false,true,true,true,false,false,true,false,false,false,false,false,true],"snapshotName":"img6.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/b2736a45-c86e-4793-aa1d-4d2ccd4b4507/imgs/800x600/img6.png"},{"locationInObjectSpace":[{"x":0.044957999140024185,"y":0.0,"z":3.916169225703925E-5},{"x":0.059943996369838715,"y":0.0,"z":4.7468718548770994E-5},{"x":0.07492999732494354,"y":0.0,"z":5.340230927686207E-5},{"x":0.11988800019025803,"y":0.0,"z":5.696246444131248E-5},{"x":0.13487400114536285,"y":0.0,"z":5.340230927686207E-5},{"x":0.14986000955104828,"y":0.0,"z":4.746871491079219E-5},{"x":0.1648460030555725,"y":0.0,"z":3.916169225703925E-5},{"x":0.17983201146125793,"y":0.0,"z":2.848122312570922E-5},{"x":0.044957999140024185,"y":0.014986000023782253,"z":1.8037206609733403E-4},{"x":0.059943996369838715,"y":0.014986000023782253,"z":1.886790996650234E-4},{"x":0.07492999732494354,"y":0.014986000023782253,"z":1.9461268675513566E-4},{"x":0.08991599828004837,"y":0.014986000023782253,"z":1.9817284191958606E-4},{"x":0.1049019992351532,"y":0.014986000023782253,"z":1.9935955060645938E-4},{"x":0.11988800019025803,"y":0.014986000023782253,"z":1.9817284191958606E-4},{"x":0.13487400114536285,"y":0.014986000023782253,"z":1.9461268675513566E-4},{"x":0.14986000955104828,"y":0.014986000023782253,"z":1.8867908511310816E-4},{"x":0.1648460030555725,"y":0.014986000023782253,"z":1.8037206609733403E-4},{"x":0.0,"y":0.029971998184919357,"z":2.510406484361738E-4},{"x":0.014986000023782253,"y":0.029971998184919357,"z":2.6646797778084874E-4},{"x":0.029971998184919357,"y":0.029971998184919357,"z":2.7952188975177705E-4},{"x":0.044957999140024185,"y":0.029971998184919357,"z":2.902023552451283E-4},{"x":0.059943996369838715,"y":0.029971998184919357,"z":2.985093742609024E-4},{"x":0.07492999732494354,"y":0.029971998184919357,"z":3.044429759029299E-4},{"x":0.08991599828004837,"y":0.029971998184919357,"z":3.080031310673803E-4},{"x":0.1049019992351532,"y":0.029971998184919357,"z":3.091898397542536E-4},{"x":0.11988800019025803,"y":0.029971998184919357,"z":3.080031310673803E-4},{"x":0.1648460030555725,"y":0.029971998184919357,"z":2.902023552451283E-4},{"x":0.0,"y":0.044957999140024185,"z":3.2949086744338274E-4},{"x":0.014986000023782253,"y":0.044957999140024185,"z":3.449181967880577E-4},{"x":0.029971998184919357,"y":0.044957999140024185,"z":3.57972108758986E-4},{"x":0.044957999140024185,"y":0.044957999140024185,"z":3.686525742523372E-4},{"x":0.059943996369838715,"y":0.044957999140024185,"z":3.7695959326811135E-4},{"x":0.07492999732494354,"y":0.044957999140024185,"z":3.828931658063084E-4},{"x":0.08991599828004837,"y":0.044957999140024185,"z":3.864533209707588E-4},{"x":0.1049019992351532,"y":0.044957999140024185,"z":3.8764005876146257E-4},{"x":0.11988800019025803,"y":0.044957999140024185,"z":3.864533209707588E-4},{"x":0.1648460030555725,"y":0.044957999140024185,"z":3.686525742523372E-4},{"x":0.17983201146125793,"y":0.044957999140024185,"z":3.5797207965515554E-4},{"x":0.19481800496578217,"y":0.044957999140024185,"z":3.449181967880577E-4},{"x":0.0,"y":0.059943996369838715,"z":3.765609872061759E-4},{"x":0.014986000023782253,"y":0.059943996369838715,"z":3.9198831655085087E-4},{"x":0.029971998184919357,"y":0.059943996369838715,"z":4.050422285217792E-4},{"x":0.044957999140024185,"y":0.059943996369838715,"z":4.157226940151304E-4},{"x":0.059943996369838715,"y":0.059943996369838715,"z":4.2402971303090453E-4},{"x":0.07492999732494354,"y":0.059943996369838715,"z":4.2996328556910157E-4},{"x":0.08991599828004837,"y":0.059943996369838715,"z":4.33523440733552E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":4.3471017852425575E-4},{"x":0.11988800019025803,"y":0.059943996369838715,"z":4.33523440733552E-4},{"x":0.13487400114536285,"y":0.059943996369838715,"z":4.2996328556910157E-4},{"x":0.14986000955104828,"y":0.059943996369838715,"z":4.2402971303090453E-4},{"x":0.1648460030555725,"y":0.059943996369838715,"z":4.157226940151304E-4},{"x":0.17983201146125793,"y":0.059943996369838715,"z":4.050421994179487E-4},{"x":0.0,"y":0.07492999732494354,"z":3.922510368283838E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":4.0767836617305875E-4},{"x":0.029971998184919357,"y":0.07492999732494354,"z":4.2073227814398706E-4},{"x":0.044957999140024185,"y":0.07492999732494354,"z":4.314127436373383E-4},{"x":0.059943996369838715,"y":0.07492999732494354,"z":4.397197626531124E-4},{"x":0.07492999732494354,"y":0.07492999732494354,"z":4.4565333519130945E-4},{"x":0.08991599828004837,"y":0.07492999732494354,"z":4.4921349035575986E-4},{"x":0.1049019992351532,"y":0.07492999732494354,"z":4.5040022814646363E-4},{"x":0.11988800019025803,"y":0.07492999732494354,"z":4.4921349035575986E-4},{"x":0.13487400114536285,"y":0.07492999732494354,"z":4.4565333519130945E-4},{"x":0.14986000955104828,"y":0.07492999732494354,"z":4.397197626531124E-4},{"x":0.1648460030555725,"y":0.07492999732494354,"z":4.314127436373383E-4},{"x":0.17983201146125793,"y":0.07492999732494354,"z":4.207322490401566E-4},{"x":0.0,"y":0.08991599828004837,"z":3.765609872061759E-4},{"x":0.014986000023782253,"y":0.08991599828004837,"z":3.919883456546813E-4},{"x":0.029971998184919357,"y":0.08991599828004837,"z":4.050422285217792E-4},{"x":0.044957999140024185,"y":0.08991599828004837,"z":4.157226940151304E-4},{"x":0.059943996369838715,"y":0.08991599828004837,"z":4.2402971303090453E-4},{"x":0.07492999732494354,"y":0.08991599828004837,"z":4.2996331467293203E-4},{"x":0.08991599828004837,"y":0.08991599828004837,"z":4.3352346983738244E-4},{"x":0.1049019992351532,"y":0.08991599828004837,"z":4.3471017852425575E-4},{"x":0.11988800019025803,"y":0.08991599828004837,"z":4.3352346983738244E-4},{"x":0.1648460030555725,"y":0.08991599828004837,"z":4.157226940151304E-4},{"x":0.17983201146125793,"y":0.08991599828004837,"z":4.050422285217792E-4},{"x":0.0,"y":0.1049019992351532,"z":3.2949086744338274E-4},{"x":0.014986000023782253,"y":0.1049019992351532,"z":3.449181967880577E-4},{"x":0.029971998184919357,"y":0.1049019992351532,"z":3.57972108758986E-4},{"x":0.044957999140024185,"y":0.1049019992351532,"z":3.686525742523372E-4},{"x":0.059943996369838715,"y":0.1049019992351532,"z":3.7695959326811135E-4},{"x":0.07492999732494354,"y":0.1049019992351532,"z":3.8289319491013885E-4},{"x":0.08991599828004837,"y":0.1049019992351532,"z":3.8645335007458925E-4},{"x":0.1049019992351532,"y":0.1049019992351532,"z":3.8764005876146257E-4},{"x":0.11988800019025803,"y":0.1049019992351532,"z":3.8645335007458925E-4},{"x":0.1648460030555725,"y":0.1049019992351532,"z":3.686525742523372E-4},{"x":0.17983201146125793,"y":0.1049019992351532,"z":3.57972108758986E-4},{"x":0.0,"y":0.11988800019025803,"z":2.5104067754000425E-4},{"x":0.014986000023782253,"y":0.11988800019025803,"z":2.664680068846792E-4},{"x":0.029971998184919357,"y":0.11988800019025803,"z":2.7952188975177705E-4},{"x":0.044957999140024185,"y":0.11988800019025803,"z":2.902023552451283E-4},{"x":0.059943996369838715,"y":0.11988800019025803,"z":2.985093742609024E-4},{"x":0.07492999732494354,"y":0.11988800019025803,"z":3.044429759029299E-4},{"x":0.08991599828004837,"y":0.11988800019025803,"z":3.080031310673803E-4},{"x":0.1049019992351532,"y":0.11988800019025803,"z":3.091898397542536E-4},{"x":0.11988800019025803,"y":0.11988800019025803,"z":3.080031310673803E-4},{"x":0.13487400114536285,"y":0.11988800019025803,"z":3.044429759029299E-4},{"x":0.14986000955104828,"y":0.11988800019025803,"z":2.985093742609024E-4},{"x":0.0,"y":0.13487400114536285,"z":1.4121035928837955E-4},{"x":0.014986000023782253,"y":0.13487400114536285,"z":1.5663770318496972E-4},{"x":0.029971998184919357,"y":0.13487400114536285,"z":1.696916006039828E-4},{"x":0.044957999140024185,"y":0.13487400114536285,"z":1.803720515454188E-4},{"x":0.059943996369838715,"y":0.13487400114536285,"z":1.8867908511310816E-4},{"x":0.07492999732494354,"y":0.13487400114536285,"z":1.9461267220322043E-4},{"x":0.11988800019025803,"y":0.13487400114536285,"z":1.9817282736767083E-4},{"x":0.13487400114536285,"y":0.13487400114536285,"z":1.9461267220322043E-4}],"locationInImageSpace":[{"x":529.0416870117188,"y":297.845703125},{"x":553.1903686523438,"y":296.67413330078125},{"x":577.1045532226562,"y":295.0251159667969},{"x":650.233642578125,"y":292.0502014160156},{"x":673.9461669921875,"y":291.24822998046875},{"x":697.18310546875,"y":290.4854736328125},{"x":720.6416625976562,"y":288.992431640625},{"x":744.2755737304688,"y":287.7677307128906},{"x":531.3128051757812,"y":322.2346496582031},{"x":555.764404296875,"y":321.6069641113281},{"x":579.9611206054688,"y":319.64495849609375},{"x":604.4437866210938,"y":318.8044128417969},{"x":628.66064453125,"y":317.0691223144531},{"x":651.9824829101562,"y":316.4385986328125},{"x":675.7013549804688,"y":315.615966796875},{"x":699.9392700195312,"y":314.1414794921875},{"x":723.6717529296875,"y":312.49273681640625},{"x":458.72369384765625,"y":350.770751953125},{"x":483.62774658203125,"y":349.7955017089844},{"x":509.05157470703125,"y":348.1191101074219},{"x":533.1470947265625,"y":346.9187316894531},{"x":558.2166748046875,"y":345.96588134765625},{"x":582.390380859375,"y":345.2198486328125},{"x":606.8978881835938,"y":343.5000305175781},{"x":630.8766479492188,"y":342.1758728027344},{"x":654.7877197265625,"y":341.5083312988281},{"x":726.21337890625,"y":337.8346862792969},{"x":460.1546936035156,"y":376.80877685546875},{"x":485.4004821777344,"y":375.60064697265625},{"x":510.17425537109375,"y":373.7681579589844},{"x":535.473876953125,"y":372.2789001464844},{"x":560.0460205078125,"y":370.98687744140625},{"x":585.0146484375,"y":370.2151794433594},{"x":609.0648803710938,"y":368.39251708984375},{"x":633.7439575195312,"y":366.8231506347656},{"x":657.9122314453125,"y":365.9704895019531},{"x":729.2898559570312,"y":362.2711181640625},{"x":753.7276611328125,"y":361.3206787109375},{"x":776.364013671875,"y":359.7013854980469},{"x":462.3446350097656,"y":402.46942138671875},{"x":487.7289123535156,"y":401.4330139160156},{"x":512.5111694335938,"y":399.8908386230469},{"x":537.8435668945312,"y":398.2249450683594},{"x":562.79248046875,"y":396.18243408203125},{"x":588.049072265625,"y":395.79461669921875},{"x":611.6612548828125,"y":394.2004699707031},{"x":636.2161865234375,"y":392.9634704589844},{"x":660.6824340820312,"y":391.2611999511719},{"x":683.9804077148438,"y":389.1934509277344},{"x":708.9715576171875,"y":388.37567138671875},{"x":731.8096923828125,"y":386.4344482421875},{"x":755.8781127929688,"y":385.9649658203125},{"x":463.960205078125,"y":428.82037353515625},{"x":489.2027282714844,"y":427.57598876953125},{"x":514.8836669921875,"y":425.332275390625},{"x":539.9002075195312,"y":424.0632019042969},{"x":564.755859375,"y":422.2870788574219},{"x":589.644775390625,"y":420.5234375},{"x":613.9583740234375,"y":419.33880615234375},{"x":638.7025756835938,"y":417.8492126464844},{"x":663.1185302734375,"y":416.3177795410156},{"x":687.3206176757812,"y":415.2442321777344},{"x":710.7315063476562,"y":412.9564514160156},{"x":735.1659545898438,"y":412.0459289550781},{"x":759.2619018554688,"y":410.67681884765625},{"x":465.5898132324219,"y":455.53265380859375},{"x":491.7579345703125,"y":453.4321594238281},{"x":516.7760009765625,"y":452.0649108886719},{"x":542.0684814453125,"y":450.11376953125},{"x":567.013671875,"y":449.0854797363281},{"x":592.7281494140625,"y":447.508056640625},{"x":616.9385375976562,"y":445.4366455078125},{"x":641.8926391601562,"y":444.0912780761719},{"x":665.93896484375,"y":442.51947021484375},{"x":738.5728759765625,"y":437.36053466796875},{"x":762.4739379882812,"y":436.0010986328125},{"x":467.92620849609375,"y":482.00067138671875},{"x":493.1551818847656,"y":480.70880126953125},{"x":519.0415649414062,"y":478.27947998046875},{"x":544.6114501953125,"y":476.5368957519531},{"x":569.8201904296875,"y":474.9155578613281},{"x":594.8944702148438,"y":473.3603820800781},{"x":620.3580322265625,"y":472.0819091796875},{"x":644.7129516601562,"y":469.8074951171875},{"x":668.8129272460938,"y":467.6301574707031},{"x":741.8197021484375,"y":462.9566955566406},{"x":765.9571533203125,"y":461.418701171875},{"x":469.77154541015625,"y":509.23858642578125},{"x":495.8763427734375,"y":507.4294128417969},{"x":521.545654296875,"y":505.53912353515625},{"x":546.9130249023438,"y":503.74163818359375},{"x":572.123291015625,"y":501.9209289550781},{"x":596.9616088867188,"y":499.349365234375},{"x":622.2535400390625,"y":498.23175048828125},{"x":647.027587890625,"y":496.0174255371094},{"x":671.9090576171875,"y":494.9554138183594},{"x":696.4949951171875,"y":492.8304748535156},{"x":720.7810668945312,"y":490.7750244140625},{"x":471.3248291015625,"y":536.5553588867188},{"x":497.9366760253906,"y":534.8692626953125},{"x":523.6691284179688,"y":533.0411376953125},{"x":549.2155151367188,"y":531.1498413085938},{"x":575.261474609375,"y":529.4776000976562},{"x":600.7423095703125,"y":526.4781494140625},{"x":675.2283325195312,"y":521.4490966796875},{"x":700.7564697265625,"y":518.0567626953125}],"reprojectionErrors":[{"x":-0.58428955078125,"y":0.077484130859375},{"x":-0.68896484375,"y":-0.1717529296875},{"x":-0.47259521484375,"y":-0.453948974609375},{"x":-0.04425048828125,"y":0.078704833984375},{"x":0.02886962890625,"y":-0.467803955078125},{"x":0.190673828125,"y":0.32745361328125},{"x":-0.09747314453125,"y":0.008636474609375},{"x":-0.2818603515625,"y":0.59185791015625},{"x":-0.32989501953125,"y":0.469451904296875},{"x":-0.0755615234375,"y":0.152740478515625},{"x":-0.515350341796875,"y":0.5457763671875},{"x":0.2010498046875,"y":0.4713134765625},{"x":-0.2265625,"y":0.157684326171875},{"x":0.07391357421875,"y":-0.3544921875},{"x":-0.12506103515625,"y":0.11529541015625},{"x":0.04119873046875,"y":0.197479248046875},{"x":0.11358642578125,"y":-0.368988037109375},{"x":0.020782470703125,"y":-0.13153076171875},{"x":0.354705810546875,"y":0.32171630859375},{"x":-0.0111083984375,"y":0.441070556640625},{"x":0.178955078125,"y":0.372406005859375},{"x":-0.19696044921875,"y":-0.20745849609375},{"x":0.17822265625,"y":0.272613525390625},{"x":-0.2406005859375,"y":0.50830078125},{"x":-0.31170654296875,"y":0.0360107421875},{"x":-0.35601806640625,"y":-0.187896728515625},{"x":-0.436737060546875,"y":0.275146484375},{"x":-0.22998046875,"y":0.087860107421875},{"x":-0.29351806640625,"y":0.673492431640625},{"x":-0.8359375,"y":-0.3856201171875},{"x":0.0970458984375,"y":-0.228546142578125},{"x":-0.07952880859375,"y":-0.41888427734375},{"x":-0.3321533203125,"y":-0.1343994140625},{"x":0.42083740234375,"y":0.525054931640625},{"x":-0.67987060546875,"y":-0.05609130859375},{"x":0.2137451171875,"y":0.49542236328125},{"x":0.047607421875,"y":-0.253936767578125},{"x":-0.26898193359375,"y":0.412445068359375},{"x":-0.0986328125,"y":0.1153564453125},{"x":0.05731201171875,"y":0.3363037109375},{"x":0.007080078125,"y":0.555633544921875},{"x":0.36138916015625,"y":0.206634521484375},{"x":0.1165771484375,"y":0.1732177734375},{"x":0.0335693359375,"y":0.192047119140625},{"x":6.103515625E-5,"y":-0.2366943359375},{"x":0.59564208984375,"y":0.558990478515625},{"x":0.00738525390625,"y":-0.012542724609375},{"x":-0.40045166015625,"y":-0.11553955078125},{"x":-0.0570068359375,"y":-0.16595458984375},{"x":-0.545745849609375,"y":0.24267578125},{"x":-0.0662841796875,"y":-0.069732666015625},{"x":-0.04058837890625,"y":0.213836669921875},{"x":-0.593017578125,"y":-0.480010986328125},{"x":-0.00970458984375,"y":-0.040863037109375},{"x":-0.34051513671875,"y":-0.316314697265625},{"x":0.068359375,"y":-0.35400390625},{"x":-0.18768310546875,"y":0.042938232421875},{"x":-0.2850341796875,"y":-0.16326904296875},{"x":-0.537200927734375,"y":0.123138427734375},{"x":0.05169677734375,"y":-0.382537841796875},{"x":-0.20062255859375,"y":0.262451171875},{"x":-0.31781005859375,"y":0.233734130859375},{"x":-0.2529296875,"y":0.096649169921875},{"x":-0.230224609375,"y":-0.0938720703125},{"x":-0.771240234375,"y":-0.548583984375},{"x":0.1046142578125,"y":0.47381591796875},{"x":-0.158935546875,"y":0.093353271484375},{"x":-0.37432861328125,"y":-0.029876708984375},{"x":-0.495941162109375,"y":-0.0452880859375},{"x":-0.640869140625,"y":-0.14178466796875},{"x":-0.53619384765625,"y":-0.142974853515625},{"x":-0.31298828125,"y":-0.222900390625},{"x":-0.11370849609375,"y":-0.2657470703125},{"x":0.2789306640625,"y":0.455902099609375},{"x":-0.02471923828125,"y":-0.6195068359375},{"x":-0.07147216796875,"y":-0.291473388671875},{"x":-0.131256103515625,"y":0.03167724609375},{"x":-0.637664794921875,"y":-0.29864501953125},{"x":-0.45269775390625,"y":-0.4716796875},{"x":-0.26715087890625,"y":-0.56646728515625},{"x":-0.7642822265625,"y":-0.86541748046875},{"x":-0.876953125,"y":0.177490234375},{"x":-0.3189697265625,"y":-0.57684326171875},{"x":-1.1783447265625,"y":0.91583251953125}],"optimisedCameraToObject":{"translation":{"x":0.025034396349688535,"y":-0.005411930349171176,"z":0.41460233082315623},"rotation":{"quaternion":{"W":0.9957465493184621,"X":-0.07557956375613037,"Y":-0.045740420332896756,"Z":-0.02616014163911353}}},"cornersUsed":[false,false,false,true,true,true,false,false,true,true,true,true,true,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,false,false,true,false,false,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,true,true,true,true,false,true,true,true,true,true,true,true,true,true,false,false,true,true,false,true,true,true,true,true,true,true,true,true,false,false,true,true,false,true,true,true,true,true,true,true,true,true,true,true,false,false,false,true,true,true,true,true,true,false,false,true,true,false,false,false,false],"snapshotName":"img7.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/b2736a45-c86e-4793-aa1d-4d2ccd4b4507/imgs/800x600/img7.png"},{"locationInObjectSpace":[{"x":0.0,"y":0.0,"z":0.0},{"x":0.014986000955104828,"y":0.0,"z":1.5427334801643156E-5},{"x":0.029972001910209656,"y":0.0,"z":2.8481234039645642E-5},{"x":0.04495799541473389,"y":0.0,"z":3.916169225703925E-5},{"x":0.05994400382041931,"y":0.0,"z":4.74687221867498E-5},{"x":0.07492999732494354,"y":0.0,"z":5.340230927686207E-5},{"x":0.0,"y":0.014986000023782253,"z":1.4121037384029478E-4},{"x":0.014986000955104828,"y":0.014986000023782253,"z":1.5663770318496972E-4},{"x":0.029972001910209656,"y":0.014986000023782253,"z":1.696916006039828E-4},{"x":0.04495799541473389,"y":0.014986000023782253,"z":1.8037206609733403E-4},{"x":0.05994400382041931,"y":0.014986000023782253,"z":1.886790996650234E-4},{"x":0.07492999732494354,"y":0.014986000023782253,"z":1.9461268675513566E-4},{"x":0.08991600573062897,"y":0.014986000023782253,"z":1.9817284191958606E-4},{"x":0.1049019992351532,"y":0.014986000023782253,"z":1.9935955060645938E-4},{"x":0.0,"y":0.029971998184919357,"z":2.510406484361738E-4},{"x":0.014986000955104828,"y":0.029971998184919357,"z":2.6646797778084874E-4},{"x":0.029972001910209656,"y":0.029971998184919357,"z":2.7952188975177705E-4},{"x":0.04495799541473389,"y":0.029971998184919357,"z":2.902023552451283E-4},{"x":0.05994400382041931,"y":0.029971998184919357,"z":2.985093742609024E-4},{"x":0.07492999732494354,"y":0.029971998184919357,"z":3.044429759029299E-4},{"x":0.08991600573062897,"y":0.029971998184919357,"z":3.080031310673803E-4},{"x":0.1049019992351532,"y":0.029971998184919357,"z":3.091898397542536E-4},{"x":0.0,"y":0.044957999140024185,"z":3.2949086744338274E-4},{"x":0.014986000955104828,"y":0.044957999140024185,"z":3.449181967880577E-4},{"x":0.029972001910209656,"y":0.044957999140024185,"z":3.57972108758986E-4},{"x":0.04495799541473389,"y":0.044957999140024185,"z":3.686525742523372E-4},{"x":0.05994400382041931,"y":0.044957999140024185,"z":3.7695959326811135E-4},{"x":0.07492999732494354,"y":0.044957999140024185,"z":3.828931658063084E-4},{"x":0.08991600573062897,"y":0.044957999140024185,"z":3.864533209707588E-4},{"x":0.1049019992351532,"y":0.044957999140024185,"z":3.8764005876146257E-4},{"x":0.0,"y":0.059943996369838715,"z":3.765609872061759E-4},{"x":0.014986000955104828,"y":0.059943996369838715,"z":3.9198831655085087E-4},{"x":0.029972001910209656,"y":0.059943996369838715,"z":4.050422285217792E-4},{"x":0.04495799541473389,"y":0.059943996369838715,"z":4.157226940151304E-4},{"x":0.05994400382041931,"y":0.059943996369838715,"z":4.2402971303090453E-4},{"x":0.07492999732494354,"y":0.059943996369838715,"z":4.2996328556910157E-4},{"x":0.08991600573062897,"y":0.059943996369838715,"z":4.33523440733552E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":4.3471017852425575E-4},{"x":0.0,"y":0.07492999732494354,"z":3.922510368283838E-4},{"x":0.014986000955104828,"y":0.07492999732494354,"z":4.0767836617305875E-4},{"x":0.029972001910209656,"y":0.07492999732494354,"z":4.2073227814398706E-4},{"x":0.04495799541473389,"y":0.07492999732494354,"z":4.314127436373383E-4},{"x":0.05994400382041931,"y":0.07492999732494354,"z":4.397197626531124E-4},{"x":0.07492999732494354,"y":0.07492999732494354,"z":4.4565333519130945E-4},{"x":0.08991600573062897,"y":0.07492999732494354,"z":4.4921349035575986E-4},{"x":0.1049019992351532,"y":0.07492999732494354,"z":4.5040022814646363E-4},{"x":0.0,"y":0.08991599828004837,"z":3.765609872061759E-4},{"x":0.014986000955104828,"y":0.08991599828004837,"z":3.919883456546813E-4},{"x":0.029972001910209656,"y":0.08991599828004837,"z":4.050422285217792E-4},{"x":0.04495799541473389,"y":0.08991599828004837,"z":4.157226940151304E-4},{"x":0.05994400382041931,"y":0.08991599828004837,"z":4.2402971303090453E-4},{"x":0.07492999732494354,"y":0.08991599828004837,"z":4.2996331467293203E-4},{"x":0.08991600573062897,"y":0.08991599828004837,"z":4.3352346983738244E-4},{"x":0.0,"y":0.1049019992351532,"z":3.2949086744338274E-4},{"x":0.014986000955104828,"y":0.1049019992351532,"z":3.449181967880577E-4},{"x":0.029972001910209656,"y":0.1049019992351532,"z":3.57972108758986E-4},{"x":0.04495799541473389,"y":0.1049019992351532,"z":3.686525742523372E-4},{"x":0.05994400382041931,"y":0.1049019992351532,"z":3.7695959326811135E-4},{"x":0.07492999732494354,"y":0.1049019992351532,"z":3.8289319491013885E-4},{"x":0.08991600573062897,"y":0.1049019992351532,"z":3.8645335007458925E-4}],"locationInImageSpace":[{"x":55.581695556640625,"y":291.20928955078125},{"x":94.34536743164062,"y":290.9828796386719},{"x":133.03895568847656,"y":291.4892578125},{"x":171.19180297851562,"y":291.3985290527344},{"x":208.31832885742188,"y":291.61334228515625},{"x":244.92105102539062,"y":291.1191101074219},{"x":56.26304244995117,"y":328.1592712402344},{"x":95.54493713378906,"y":328.1109619140625},{"x":134.1727752685547,"y":328.3555908203125},{"x":171.84071350097656,"y":327.62445068359375},{"x":209.1923370361328,"y":328.095703125},{"x":245.58445739746094,"y":327.6905822753906},{"x":282.10107421875,"y":327.13720703125},{"x":318.2950439453125,"y":327.3154602050781},{"x":57.27787780761719,"y":364.9406433105469},{"x":95.99114227294922,"y":365.0208740234375},{"x":134.09471130371094,"y":364.09381103515625},{"x":172.12551879882812,"y":363.99676513671875},{"x":209.1582794189453,"y":363.77947998046875},{"x":245.55914306640625,"y":363.2710876464844},{"x":282.5587463378906,"y":362.918701171875},{"x":318.0361328125,"y":362.46649169921875},{"x":57.940189361572266,"y":401.6824951171875},{"x":96.74295806884766,"y":401.062255859375},{"x":134.44149780273438,"y":400.414794921875},{"x":172.56854248046875,"y":399.9081726074219},{"x":209.24234008789062,"y":399.26336669921875},{"x":245.88490295410156,"y":398.6543273925781},{"x":282.41436767578125,"y":398.2008972167969},{"x":318.84381103515625,"y":397.1650695800781},{"x":58.77667236328125,"y":437.96966552734375},{"x":96.59586334228516,"y":436.88629150390625},{"x":134.10498046875,"y":437.1142883300781},{"x":172.65008544921875,"y":435.7650146484375},{"x":210.06948852539062,"y":434.9781494140625},{"x":245.7891082763672,"y":433.61309814453125},{"x":282.3750915527344,"y":433.9525146484375},{"x":318.2998962402344,"y":432.7364807128906},{"x":58.52730178833008,"y":474.7355651855469},{"x":97.98552703857422,"y":473.3890686035156},{"x":135.4017333984375,"y":472.84332275390625},{"x":173.00289916992188,"y":471.4971618652344},{"x":209.8708953857422,"y":470.72021484375},{"x":246.60601806640625,"y":469.8593444824219},{"x":282.66363525390625,"y":468.42767333984375},{"x":318.04827880859375,"y":468.10968017578125},{"x":59.4659538269043,"y":510.8071594238281},{"x":98.29353332519531,"y":510.2879333496094},{"x":135.6890106201172,"y":508.7965393066406},{"x":173.2588348388672,"y":507.4043273925781},{"x":210.0620880126953,"y":506.3445129394531},{"x":246.08480834960938,"y":504.5052185058594},{"x":282.9278259277344,"y":503.98150634765625},{"x":60.05022048950195,"y":547.3457641601562},{"x":97.75969696044922,"y":546.3484497070312},{"x":135.61598205566406,"y":543.8975830078125},{"x":173.8024139404297,"y":542.3750610351562},{"x":210.80284118652344,"y":541.3618774414062},{"x":246.6067352294922,"y":540.1397705078125},{"x":283.039306640625,"y":539.1251220703125}],"reprojectionErrors":[{"x":0.48421478271484375,"y":-0.094818115234375},{"x":-0.03525543212890625,"y":-0.185333251953125},{"x":-0.3913116455078125,"y":-0.566650390625},{"x":-0.2679901123046875,"y":0.029876708984375},{"x":-0.2989349365234375,"y":-0.573944091796875},{"x":0.1685791015625,"y":-0.29937744140625},{"x":-0.266510009765625,"y":-0.14251708984375},{"x":0.1357421875,"y":-0.031707763671875},{"x":0.1590728759765625,"y":-0.056121826171875},{"x":-0.07526397705078125,"y":-0.038787841796875},{"x":0.308746337890625,"y":0.0142822265625},{"x":-0.21160888671875,"y":-0.065093994140625},{"x":0.2551727294921875,"y":0.00189208984375},{"x":0.2965240478515625,"y":0.0411376953125},{"x":-0.2909393310546875,"y":-0.068817138671875},{"x":0.5920257568359375,"y":0.5096435546875},{"x":0.1632080078125,"y":-0.605621337890625},{"x":-0.041015625,"y":-0.15484619140625},{"x":0.7939491271972656,"y":-0.168365478515625},{"x":-0.27057647705078125,"y":0.118988037109375},{"x":0.2253265380859375,"y":-0.379638671875},{"x":0.0645599365234375,"y":-0.063323974609375},{"x":0.3426971435546875,"y":-0.511138916015625},{"x":0.1368408203125,"y":-0.3682861328125},{"x":0.237335205078125,"y":-0.540679931640625},{"x":0.6674041748046875,"y":0.083221435546875},{"x":-0.1646728515625,"y":-0.592010498046875},{"x":0.3662872314453125,"y":-0.3558349609375},{"x":0.8945541381835938,"y":-0.86737060546875},{"x":0.7982330322265625,"y":0.09552001953125}],"optimisedCameraToObject":{"translation":{"x":-0.1440779479181842,"y":-0.007625847224085592,"z":0.28263194727943874},"rotation":{"quaternion":{"W":0.9980009635830989,"X":0.01984798368245574,"Y":-0.05999448204481081,"Z":8.923873160943235E-4}}},"cornersUsed":[false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],"snapshotName":"img8.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/b2736a45-c86e-4793-aa1d-4d2ccd4b4507/imgs/800x600/img8.png"},{"locationInObjectSpace":[{"x":0.0,"y":0.0,"z":0.0},{"x":0.014986000023782253,"y":0.0,"z":1.5427334801643156E-5},{"x":0.029971998184919357,"y":0.0,"z":2.8481230401666835E-5},{"x":0.044957999140024185,"y":0.0,"z":3.916169225703925E-5},{"x":0.059943996369838715,"y":0.0,"z":4.7468718548770994E-5},{"x":0.07492999732494354,"y":0.0,"z":5.340230927686207E-5},{"x":0.08991599828004837,"y":0.0,"z":5.696246444131248E-5},{"x":0.1049019992351532,"y":0.0,"z":5.814918040414341E-5},{"x":0.11988800019025803,"y":0.0,"z":5.696246444131248E-5},{"x":0.13487400114536285,"y":0.0,"z":5.340230927686207E-5},{"x":0.14986000955104828,"y":0.0,"z":4.746871491079219E-5},{"x":0.1648460030555725,"y":0.0,"z":3.916169225703925E-5},{"x":0.17983201146125793,"y":0.0,"z":2.848122312570922E-5},{"x":0.19481800496578217,"y":0.0,"z":1.5427329344674945E-5},{"x":0.0,"y":0.014986000023782253,"z":1.4121037384029478E-4},{"x":0.014986000023782253,"y":0.014986000023782253,"z":1.5663770318496972E-4},{"x":0.029971998184919357,"y":0.014986000023782253,"z":1.696916006039828E-4},{"x":0.044957999140024185,"y":0.014986000023782253,"z":1.8037206609733403E-4},{"x":0.059943996369838715,"y":0.014986000023782253,"z":1.886790996650234E-4},{"x":0.07492999732494354,"y":0.014986000023782253,"z":1.9461268675513566E-4},{"x":0.08991599828004837,"y":0.014986000023782253,"z":1.9817284191958606E-4},{"x":0.1049019992351532,"y":0.014986000023782253,"z":1.9935955060645938E-4},{"x":0.11988800019025803,"y":0.014986000023782253,"z":1.9817284191958606E-4},{"x":0.13487400114536285,"y":0.014986000023782253,"z":1.9461268675513566E-4},{"x":0.14986000955104828,"y":0.014986000023782253,"z":1.8867908511310816E-4},{"x":0.1648460030555725,"y":0.014986000023782253,"z":1.8037206609733403E-4},{"x":0.17983201146125793,"y":0.014986000023782253,"z":1.696916006039828E-4},{"x":0.19481800496578217,"y":0.014986000023782253,"z":1.5663770318496972E-4},{"x":0.014986000023782253,"y":0.029971998184919357,"z":2.6646797778084874E-4},{"x":0.029971998184919357,"y":0.029971998184919357,"z":2.7952188975177705E-4},{"x":0.044957999140024185,"y":0.029971998184919357,"z":2.902023552451283E-4},{"x":0.059943996369838715,"y":0.029971998184919357,"z":2.985093742609024E-4},{"x":0.1049019992351532,"y":0.029971998184919357,"z":3.091898397542536E-4},{"x":0.11988800019025803,"y":0.029971998184919357,"z":3.080031310673803E-4},{"x":0.13487400114536285,"y":0.029971998184919357,"z":3.044429759029299E-4},{"x":0.14986000955104828,"y":0.029971998184919357,"z":2.985093742609024E-4},{"x":0.1648460030555725,"y":0.029971998184919357,"z":2.902023552451283E-4},{"x":0.17983201146125793,"y":0.029971998184919357,"z":2.7952188975177705E-4},{"x":0.19481800496578217,"y":0.029971998184919357,"z":2.6646797778084874E-4},{"x":0.014986000023782253,"y":0.044957999140024185,"z":3.449181967880577E-4},{"x":0.029971998184919357,"y":0.044957999140024185,"z":3.57972108758986E-4},{"x":0.044957999140024185,"y":0.044957999140024185,"z":3.686525742523372E-4},{"x":0.059943996369838715,"y":0.044957999140024185,"z":3.7695959326811135E-4},{"x":0.1049019992351532,"y":0.044957999140024185,"z":3.8764005876146257E-4},{"x":0.11988800019025803,"y":0.044957999140024185,"z":3.864533209707588E-4},{"x":0.13487400114536285,"y":0.044957999140024185,"z":3.828931658063084E-4},{"x":0.17983201146125793,"y":0.044957999140024185,"z":3.5797207965515554E-4},{"x":0.19481800496578217,"y":0.044957999140024185,"z":3.449181967880577E-4},{"x":0.0,"y":0.059943996369838715,"z":3.765609872061759E-4},{"x":0.014986000023782253,"y":0.059943996369838715,"z":3.9198831655085087E-4},{"x":0.029971998184919357,"y":0.059943996369838715,"z":4.050422285217792E-4},{"x":0.044957999140024185,"y":0.059943996369838715,"z":4.157226940151304E-4},{"x":0.059943996369838715,"y":0.059943996369838715,"z":4.2402971303090453E-4},{"x":0.07492999732494354,"y":0.059943996369838715,"z":4.2996328556910157E-4},{"x":0.08991599828004837,"y":0.059943996369838715,"z":4.33523440733552E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":4.3471017852425575E-4},{"x":0.11988800019025803,"y":0.059943996369838715,"z":4.33523440733552E-4},{"x":0.13487400114536285,"y":0.059943996369838715,"z":4.2996328556910157E-4},{"x":0.17983201146125793,"y":0.059943996369838715,"z":4.050421994179487E-4},{"x":0.19481800496578217,"y":0.059943996369838715,"z":3.9198831655085087E-4},{"x":0.0,"y":0.07492999732494354,"z":3.922510368283838E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":4.0767836617305875E-4},{"x":0.029971998184919357,"y":0.07492999732494354,"z":4.2073227814398706E-4},{"x":0.044957999140024185,"y":0.07492999732494354,"z":4.314127436373383E-4},{"x":0.059943996369838715,"y":0.07492999732494354,"z":4.397197626531124E-4},{"x":0.07492999732494354,"y":0.07492999732494354,"z":4.4565333519130945E-4},{"x":0.08991599828004837,"y":0.07492999732494354,"z":4.4921349035575986E-4},{"x":0.1049019992351532,"y":0.07492999732494354,"z":4.5040022814646363E-4},{"x":0.11988800019025803,"y":0.07492999732494354,"z":4.4921349035575986E-4},{"x":0.13487400114536285,"y":0.07492999732494354,"z":4.4565333519130945E-4},{"x":0.14986000955104828,"y":0.07492999732494354,"z":4.397197626531124E-4},{"x":0.1648460030555725,"y":0.07492999732494354,"z":4.314127436373383E-4},{"x":0.17983201146125793,"y":0.07492999732494354,"z":4.207322490401566E-4},{"x":0.19481800496578217,"y":0.07492999732494354,"z":4.0767836617305875E-4},{"x":0.0,"y":0.08991599828004837,"z":3.765609872061759E-4},{"x":0.014986000023782253,"y":0.08991599828004837,"z":3.919883456546813E-4},{"x":0.029971998184919357,"y":0.08991599828004837,"z":4.050422285217792E-4},{"x":0.044957999140024185,"y":0.08991599828004837,"z":4.157226940151304E-4},{"x":0.059943996369838715,"y":0.08991599828004837,"z":4.2402971303090453E-4},{"x":0.07492999732494354,"y":0.08991599828004837,"z":4.2996331467293203E-4},{"x":0.08991599828004837,"y":0.08991599828004837,"z":4.3352346983738244E-4},{"x":0.1049019992351532,"y":0.08991599828004837,"z":4.3471017852425575E-4},{"x":0.11988800019025803,"y":0.08991599828004837,"z":4.3352346983738244E-4},{"x":0.13487400114536285,"y":0.08991599828004837,"z":4.2996331467293203E-4},{"x":0.14986000955104828,"y":0.08991599828004837,"z":4.2402971303090453E-4},{"x":0.1648460030555725,"y":0.08991599828004837,"z":4.157226940151304E-4},{"x":0.17983201146125793,"y":0.08991599828004837,"z":4.050422285217792E-4},{"x":0.19481800496578217,"y":0.08991599828004837,"z":3.9198831655085087E-4},{"x":0.0,"y":0.1049019992351532,"z":3.2949086744338274E-4},{"x":0.014986000023782253,"y":0.1049019992351532,"z":3.449181967880577E-4},{"x":0.029971998184919357,"y":0.1049019992351532,"z":3.57972108758986E-4},{"x":0.044957999140024185,"y":0.1049019992351532,"z":3.686525742523372E-4},{"x":0.059943996369838715,"y":0.1049019992351532,"z":3.7695959326811135E-4},{"x":0.07492999732494354,"y":0.1049019992351532,"z":3.8289319491013885E-4},{"x":0.08991599828004837,"y":0.1049019992351532,"z":3.8645335007458925E-4},{"x":0.1049019992351532,"y":0.1049019992351532,"z":3.8764005876146257E-4},{"x":0.11988800019025803,"y":0.1049019992351532,"z":3.8645335007458925E-4},{"x":0.13487400114536285,"y":0.1049019992351532,"z":3.8289319491013885E-4},{"x":0.14986000955104828,"y":0.1049019992351532,"z":3.7695959326811135E-4},{"x":0.1648460030555725,"y":0.1049019992351532,"z":3.686525742523372E-4},{"x":0.17983201146125793,"y":0.1049019992351532,"z":3.57972108758986E-4},{"x":0.19481800496578217,"y":0.1049019992351532,"z":3.449181967880577E-4},{"x":0.0,"y":0.11988800019025803,"z":2.5104067754000425E-4},{"x":0.014986000023782253,"y":0.11988800019025803,"z":2.664680068846792E-4},{"x":0.029971998184919357,"y":0.11988800019025803,"z":2.7952188975177705E-4},{"x":0.044957999140024185,"y":0.11988800019025803,"z":2.902023552451283E-4},{"x":0.059943996369838715,"y":0.11988800019025803,"z":2.985093742609024E-4},{"x":0.07492999732494354,"y":0.11988800019025803,"z":3.044429759029299E-4},{"x":0.08991599828004837,"y":0.11988800019025803,"z":3.080031310673803E-4},{"x":0.1049019992351532,"y":0.11988800019025803,"z":3.091898397542536E-4},{"x":0.11988800019025803,"y":0.11988800019025803,"z":3.080031310673803E-4},{"x":0.13487400114536285,"y":0.11988800019025803,"z":3.044429759029299E-4},{"x":0.14986000955104828,"y":0.11988800019025803,"z":2.985093742609024E-4},{"x":0.1648460030555725,"y":0.11988800019025803,"z":2.902023552451283E-4},{"x":0.17983201146125793,"y":0.11988800019025803,"z":2.7952188975177705E-4},{"x":0.19481800496578217,"y":0.11988800019025803,"z":2.664680068846792E-4},{"x":0.0,"y":0.13487400114536285,"z":1.4121035928837955E-4},{"x":0.014986000023782253,"y":0.13487400114536285,"z":1.5663770318496972E-4},{"x":0.029971998184919357,"y":0.13487400114536285,"z":1.696916006039828E-4},{"x":0.044957999140024185,"y":0.13487400114536285,"z":1.803720515454188E-4},{"x":0.059943996369838715,"y":0.13487400114536285,"z":1.8867908511310816E-4},{"x":0.07492999732494354,"y":0.13487400114536285,"z":1.9461267220322043E-4},{"x":0.11988800019025803,"y":0.13487400114536285,"z":1.9817282736767083E-4},{"x":0.13487400114536285,"y":0.13487400114536285,"z":1.9461267220322043E-4},{"x":0.14986000955104828,"y":0.13487400114536285,"z":1.8867908511310816E-4},{"x":0.1648460030555725,"y":0.13487400114536285,"z":1.803720515454188E-4},{"x":0.17983201146125793,"y":0.13487400114536285,"z":1.6969158605206758E-4},{"x":0.19481800496578217,"y":0.13487400114536285,"z":1.566376886330545E-4}],"locationInImageSpace":[{"x":293.0016174316406,"y":53.65614318847656},{"x":321.1366882324219,"y":52.074066162109375},{"x":349.79559326171875,"y":50.96249771118164},{"x":377.9600830078125,"y":49.125179290771484},{"x":406.19921875,"y":47.68765640258789},{"x":434.3543395996094,"y":46.01155471801758},{"x":461.94598388671875,"y":44.332157135009766},{"x":489.9284362792969,"y":42.80974578857422},{"x":517.715087890625,"y":41.71341323852539},{"x":545.83740234375,"y":39.83454895019531},{"x":573.057373046875,"y":38.304683685302734},{"x":601.0623168945312,"y":36.17552947998047},{"x":627.9612426757812,"y":34.88299560546875},{"x":655.68017578125,"y":32.69586944580078},{"x":293.93328857421875,"y":80.79007720947266},{"x":323.5055847167969,"y":79.68144989013672},{"x":351.70928955078125,"y":78.17002868652344},{"x":380.214599609375,"y":76.24176788330078},{"x":408.7503662109375,"y":75.02635955810547},{"x":436.66986083984375,"y":72.91970825195312},{"x":464.9232177734375,"y":71.72602844238281},{"x":492.5582580566406,"y":69.71389770507812},{"x":520.6622924804688,"y":68.13159942626953},{"x":547.953369140625,"y":66.79234313964844},{"x":576.0743408203125,"y":64.631103515625},{"x":603.9078369140625,"y":62.911930084228516},{"x":631.2844848632812,"y":60.894012451171875},{"x":659.0216674804688,"y":59.647056579589844},{"x":324.8879089355469,"y":106.9717025756836},{"x":353.9352722167969,"y":105.47254180908203},{"x":382.26702880859375,"y":103.35614776611328},{"x":410.78045654296875,"y":101.85739135742188},{"x":495.75128173828125,"y":97.07952117919922},{"x":523.421875,"y":95.38948822021484},{"x":550.9274291992188,"y":93.08597564697266},{"x":578.954345703125,"y":91.75263214111328},{"x":606.60107421875,"y":89.76998901367188},{"x":634.8438110351562,"y":87.81051635742188},{"x":661.9334106445312,"y":85.97756958007812},{"x":327.006591796875,"y":134.51243591308594},{"x":356.0901794433594,"y":132.91189575195312},{"x":384.7774658203125,"y":130.80690002441406},{"x":413.4814453125,"y":129.41412353515625},{"x":498.3398742675781,"y":123.85466003417969},{"x":526.05615234375,"y":122.64957427978516},{"x":554.2075805664062,"y":120.78583526611328},{"x":637.7804565429688,"y":114.93629455566406},{"x":665.2591552734375,"y":113.93035125732422},{"x":300.0501708984375,"y":163.92666625976562},{"x":328.6221008300781,"y":162.17193603515625},{"x":357.996826171875,"y":160.32754516601562},{"x":386.5594482421875,"y":158.6907958984375},{"x":415.54107666015625,"y":156.58358764648438},{"x":443.9886474609375,"y":155.1761016845703},{"x":472.3690185546875,"y":152.94813537597656},{"x":500.2477111816406,"y":151.12646484375},{"x":528.933349609375,"y":149.54486083984375},{"x":557.068359375,"y":148.119140625},{"x":641.5062866210938,"y":141.81494140625},{"x":668.8671264648438,"y":140.48739624023438},{"x":301.5730285644531,"y":191.9599609375},{"x":330.80126953125,"y":190.3693084716797},{"x":359.73193359375,"y":188.57688903808594},{"x":388.77392578125,"y":186.84945678710938},{"x":417.7363586425781,"y":184.53317260742188},{"x":446.66937255859375,"y":182.30352783203125},{"x":474.48223876953125,"y":180.5835723876953},{"x":503.655029296875,"y":178.58834838867188},{"x":531.2681274414062,"y":177.05142211914062},{"x":560.1028442382812,"y":175.4776611328125},{"x":588.2848510742188,"y":173.45289611816406},{"x":616.2069702148438,"y":171.91192626953125},{"x":644.3250732421875,"y":169.9122314453125},{"x":672.1434936523438,"y":167.9024658203125},{"x":303.38934326171875,"y":220.77890014648438},{"x":333.0822448730469,"y":218.8842315673828},{"x":362.1810607910156,"y":216.9464569091797},{"x":391.0806884765625,"y":214.54090881347656},{"x":420.2688903808594,"y":212.6992950439453},{"x":449.1319885253906,"y":210.94895935058594},{"x":477.13189697265625,"y":209.134765625},{"x":505.83123779296875,"y":206.6059112548828},{"x":534.7447509765625,"y":205.03321838378906},{"x":562.8475952148438,"y":203.2238006591797},{"x":591.3324584960938,"y":201.65493774414062},{"x":619.2766723632812,"y":198.9798583984375},{"x":647.8711547851562,"y":197.34945678710938},{"x":675.8557739257812,"y":195.44859313964844},{"x":305.5986022949219,"y":249.61351013183594},{"x":334.3871154785156,"y":247.405029296875},{"x":363.86785888671875,"y":244.90753173828125},{"x":393.5332336425781,"y":242.69911193847656},{"x":422.05584716796875,"y":241.26637268066406},{"x":451.5118103027344,"y":238.81288146972656},{"x":479.83905029296875,"y":236.8457794189453},{"x":508.6176452636719,"y":236.08047485351562},{"x":537.843505859375,"y":233.2560577392578},{"x":566.0945434570312,"y":230.81063842773438},{"x":594.0191040039062,"y":228.87893676757812},{"x":623.12060546875,"y":226.9275665283203},{"x":651.7723999023438,"y":225.16049194335938},{"x":679.5157470703125,"y":223.2522430419922},{"x":307.0687255859375,"y":278.2828369140625},{"x":336.8115234375,"y":275.98675537109375},{"x":366.1426086425781,"y":274.12353515625},{"x":395.71990966796875,"y":271.8211364746094},{"x":425.0025939941406,"y":269.8379821777344},{"x":453.85394287109375,"y":267.545654296875},{"x":482.8695373535156,"y":265.96038818359375},{"x":512.001220703125,"y":263.3410339355469},{"x":540.4334106445312,"y":261.6855163574219},{"x":569.5758666992188,"y":259.9017639160156},{"x":598.107666015625,"y":257.3130187988281},{"x":626.2179565429688,"y":255.2633514404297},{"x":654.9982299804688,"y":253.09242248535156},{"x":684.0781860351562,"y":251.4141845703125},{"x":308.99237060546875,"y":307.7589416503906},{"x":338.6441345214844,"y":305.4855651855469},{"x":368.1640930175781,"y":302.9690246582031},{"x":398.0224914550781,"y":300.7115783691406},{"x":426.8952941894531,"y":298.2010803222656},{"x":456.2791748046875,"y":296.5345458984375},{"x":543.745361328125,"y":290.0345764160156},{"x":572.4732055664062,"y":288.0798034667969},{"x":601.8113403320312,"y":286.2203369140625},{"x":629.2100830078125,"y":284.46441650390625},{"x":659.155517578125,"y":281.9940490722656},{"x":687.2332763671875,"y":279.5274658203125}],"reprojectionErrors":[{"x":-0.006988525390625,"y":0.6277618408203125},{"x":0.35321044921875,"y":0.590576171875},{"x":0.08074951171875,"y":0.08685684204101562},{"x":0.19500732421875,"y":0.3128166198730469},{"x":0.12811279296875,"y":0.14285659790039062},{"x":0.03985595703125,"y":0.21529388427734375},{"x":0.410797119140625,"y":0.2947959899902344},{"x":0.28778076171875,"y":0.22103118896484375},{"x":0.258544921875,"y":-0.275146484375},{"x":-0.2073974609375,"y":0.014827728271484375},{"x":0.129150390625,"y":-0.040630340576171875},{"x":-0.41815185546875,"y":0.5067214965820312},{"x":0.04278564453125,"y":0.22092056274414062},{"x":-0.41302490234375,"y":0.8331336975097656},{"x":0.784454345703125,"y":0.683929443359375},{"x":-0.169586181640625,"y":0.11397552490234375},{"x":0.135223388671875,"y":-0.0487823486328125},{"x":0.029815673828125,"y":0.20963287353515625},{"x":-0.2135009765625,"y":-0.24051666259765625},{"x":0.053192138671875,"y":0.20479583740234375},{"x":-0.119140625,"y":-0.2586822509765625},{"x":0.222808837890625,"y":0.10041046142578125},{"x":-0.00714111328125,"y":0.03372955322265625},{"x":0.4739990234375,"y":-0.27198028564453125},{"x":0.0245361328125,"y":0.2482452392578125},{"x":-0.2371826171875,"y":0.3303108215332031},{"x":-0.14056396484375,"y":0.7149696350097656},{"x":-0.50213623046875,"y":0.3324699401855469},{"x":-0.10791015625,"y":-0.06342315673828125},{"x":0.0848388671875,"y":0.3235626220703125},{"x":-0.012481689453125,"y":0.09761810302734375},{"x":-0.373687744140625,"y":-0.27098846435546875},{"x":0.09844970703125,"y":-0.05036163330078125},{"x":0.14093017578125,"y":0.23886871337890625},{"x":-0.5120849609375,"y":0.5091629028320312},{"x":-0.11029052734375,"y":0.6571273803710938},{"x":0.055877685546875,"y":0.2057647705078125},{"x":-0.2645263671875,"y":0.011016845703125},{"x":-0.2991943359375,"y":0.3259124755859375},{"x":-0.33294677734375,"y":0.168487548828125},{"x":0.0682373046875,"y":-0.39148712158203125},{"x":-0.0693359375,"y":-0.2879791259765625},{"x":-0.21142578125,"y":0.30918121337890625},{"x":0.321990966796875,"y":0.358489990234375},{"x":-0.156768798828125,"y":0.3452911376953125},{"x":0.06500244140625,"y":0.1300811767578125},{"x":-0.048828125,"y":0.35003662109375},{"x":0.4224853515625,"y":0.341644287109375},{"x":-0.01885986328125,"y":0.0984954833984375},{"x":-0.01409912109375,"y":-0.2953033447265625},{"x":-0.64898681640625,"y":0.5811614990234375},{"x":-0.27728271484375,"y":0.1095123291015625},{"x":0.1195068359375,"y":0.5579376220703125},{"x":0.03759765625,"y":0.221282958984375},{"x":0.139404296875,"y":0.092559814453125},{"x":0.01727294921875,"y":-0.095062255859375},{"x":-0.13671875,"y":0.31219482421875},{"x":-0.3714599609375,"y":0.638763427734375},{"x":0.47509765625,"y":0.2166595458984375},{"x":-0.0904541015625,"y":-0.08953857421875},{"x":-0.107666015625,"y":0.0608673095703125},{"x":0.03167724609375,"y":-0.2669830322265625},{"x":-0.1270751953125,"y":-0.130645751953125},{"x":-0.08721923828125,"y":0.02117919921875},{"x":0.07037353515625,"y":0.123321533203125},{"x":-0.33477783203125,"y":0.025360107421875},{"x":-0.260772705078125,"y":-0.022857666015625},{"x":-0.101287841796875,"y":0.40325927734375},{"x":-0.342864990234375,"y":0.2719268798828125},{"x":-0.37060546875,"y":0.0557403564453125},{"x":0.35479736328125,"y":-0.0902557373046875},{"x":0.271881103515625,"y":0.4846649169921875},{"x":-0.13287353515625,"y":0.1096038818359375},{"x":0.16644287109375,"y":-0.022613525390625},{"x":-0.0216064453125,"y":-0.38934326171875},{"x":0.22674560546875,"y":0.3561248779296875},{"x":-0.2783203125,"y":0.0628204345703125},{"x":-0.27557373046875,"y":0.0457916259765625},{"x":-0.36114501953125,"y":-0.05548095703125},{"x":0.28350830078125,"y":0.09368896484375},{"x":0.119842529296875,"y":0.5389862060546875},{"x":-0.343292236328125,"y":0.7022552490234375},{"x":0.222747802734375,"y":0.0968017578125},{"x":-0.256927490234375,"y":0.5189971923828125},{"x":0.281005859375,"y":0.4615936279296875},{"x":0.257598876953125,"y":-0.7908935546875},{"x":-0.32177734375,"y":0.0223846435546875},{"x":-0.033935546875,"y":0.4632415771484375},{"x":0.4739990234375,"y":0.3968658447265625},{"x":-0.30035400390625,"y":0.3565826416015625},{"x":-0.72900390625,"y":0.138336181640625},{"x":-0.352294921875,"y":0.067535400390625},{"x":-0.042327880859375,"y":0.214202880859375},{"x":-0.202484130859375,"y":0.382843017578125},{"x":-0.068206787109375,"y":0.126251220703125},{"x":-0.296142578125,"y":0.316375732421875},{"x":-0.34423828125,"y":0.1947021484375},{"x":-0.074432373046875,"y":0.38958740234375},{"x":-0.0811767578125,"y":-0.115325927734375},{"x":-0.315032958984375,"y":0.4210205078125},{"x":0.040771484375,"y":6.7138671875E-4},{"x":-0.42236328125,"y":-0.284393310546875},{"x":-0.38226318359375,"y":0.242462158203125},{"x":-0.0269775390625,"y":0.23712158203125},{"x":-0.44683837890625,"y":0.359832763671875},{"x":-1.2703857421875,"y":-0.0034332275390625},{"x":-0.1651611328125,"y":-0.027587890625},{"x":-0.080657958984375,"y":0.048736572265625},{"x":0.017120361328125,"y":0.376373291015625},{"x":-0.340728759765625,"y":0.45294189453125},{"x":0.17108154296875,"y":0.79052734375},{"x":0.057159423828125,"y":0.292022705078125},{"x":-0.274658203125,"y":0.343109130859375},{"x":-0.1788330078125,"y":0.16339111328125},{"x":-0.8018798828125,"y":-0.104217529296875},{"x":0.4071044921875,"y":-0.468017578125},{"x":-1.03680419921875,"y":-0.110107421875},{"x":-0.71807861328125,"y":0.251190185546875}],"optimisedCameraToObject":{"translation":{"x":-0.06311435870347723,"y":-0.13461912266931134,"z":0.368840149269872},"rotation":{"quaternion":{"W":0.9972357715100802,"X":-0.06005073920217555,"Y":-0.020772594606999935,"Z":-0.03851264799076344}}},"cornersUsed":[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,true,true,true,true,false,false,true,true,true,true,true,true,true,false,true,true,true,true,false,false,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true],"snapshotName":"img9.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/b2736a45-c86e-4793-aa1d-4d2ccd4b4507/imgs/800x600/img9.png"},{"locationInObjectSpace":[{"x":0.014986000955104828,"y":0.0,"z":1.5427334801643156E-5},{"x":0.029972001910209656,"y":0.0,"z":2.8481234039645642E-5},{"x":0.044958002865314484,"y":0.0,"z":3.9161695895018056E-5},{"x":0.059943996369838715,"y":0.0,"z":4.7468718548770994E-5},{"x":0.07493000477552414,"y":0.0,"z":5.340231291484088E-5},{"x":0.08991599828004837,"y":0.0,"z":5.696246444131248E-5},{"x":0.1049020066857338,"y":0.0,"z":5.814918040414341E-5},{"x":0.11988800019025803,"y":0.0,"z":5.696246444131248E-5},{"x":0.044958002865314484,"y":0.014986000955104828,"z":1.8037208064924926E-4},{"x":0.059943996369838715,"y":0.014986000955104828,"z":1.886790996650234E-4},{"x":0.07493000477552414,"y":0.014986000955104828,"z":1.9461268675513566E-4},{"x":0.08991599828004837,"y":0.014986000955104828,"z":1.9817284191958606E-4},{"x":0.1049020066857338,"y":0.014986000955104828,"z":1.993595651583746E-4},{"x":0.11988800019025803,"y":0.014986000955104828,"z":1.9817284191958606E-4},{"x":0.044958002865314484,"y":0.029972001910209656,"z":2.9020238434895873E-4},{"x":0.059943996369838715,"y":0.029972001910209656,"z":2.9850940336473286E-4},{"x":0.07493000477552414,"y":0.029972001910209656,"z":3.044429759029299E-4},{"x":0.08991599828004837,"y":0.029972001910209656,"z":3.080031310673803E-4},{"x":0.1049020066857338,"y":0.029972001910209656,"z":3.091898688580841E-4},{"x":0.11988800019025803,"y":0.029972001910209656,"z":3.080031310673803E-4},{"x":0.0,"y":0.044958002865314484,"z":3.294908965472132E-4},{"x":0.014986000955104828,"y":0.044958002865314484,"z":3.4491822589188814E-4},{"x":0.029972001910209656,"y":0.044958002865314484,"z":3.57972108758986E-4},{"x":0.044958002865314484,"y":0.044958002865314484,"z":3.686525742523372E-4},{"x":0.059943996369838715,"y":0.044958002865314484,"z":3.7695959326811135E-4},{"x":0.07493000477552414,"y":0.044958002865314484,"z":3.8289319491013885E-4},{"x":0.08991599828004837,"y":0.044958002865314484,"z":3.8645335007458925E-4},{"x":0.1049020066857338,"y":0.044958002865314484,"z":3.8764005876146257E-4},{"x":0.11988800019025803,"y":0.044958002865314484,"z":3.8645335007458925E-4},{"x":0.0,"y":0.05994400382041931,"z":3.765610163100064E-4},{"x":0.014986000955104828,"y":0.05994400382041931,"z":3.919883456546813E-4},{"x":0.029972001910209656,"y":0.05994400382041931,"z":4.050422285217792E-4},{"x":0.044958002865314484,"y":0.05994400382041931,"z":4.157226940151304E-4},{"x":0.059943996369838715,"y":0.05994400382041931,"z":4.2402971303090453E-4},{"x":0.07493000477552414,"y":0.05994400382041931,"z":4.2996331467293203E-4},{"x":0.08991599828004837,"y":0.05994400382041931,"z":4.3352346983738244E-4},{"x":0.1049020066857338,"y":0.05994400382041931,"z":4.3471017852425575E-4},{"x":0.11988800019025803,"y":0.05994400382041931,"z":4.3352346983738244E-4},{"x":0.0,"y":0.07492999732494354,"z":3.922510368283838E-4},{"x":0.014986000955104828,"y":0.07492999732494354,"z":4.0767836617305875E-4},{"x":0.029972001910209656,"y":0.07492999732494354,"z":4.2073227814398706E-4},{"x":0.044958002865314484,"y":0.07492999732494354,"z":4.314127436373383E-4},{"x":0.059943996369838715,"y":0.07492999732494354,"z":4.397197626531124E-4},{"x":0.07493000477552414,"y":0.07492999732494354,"z":4.456533642951399E-4},{"x":0.08991599828004837,"y":0.07492999732494354,"z":4.4921349035575986E-4},{"x":0.1049020066857338,"y":0.07492999732494354,"z":4.5040022814646363E-4},{"x":0.11988800019025803,"y":0.07492999732494354,"z":4.4921349035575986E-4}],"locationInImageSpace":[{"x":73.04083251953125,"y":60.767887115478516},{"x":111.37338256835938,"y":60.82770538330078},{"x":148.83555603027344,"y":61.00288391113281},{"x":186.00494384765625,"y":61.04358673095703},{"x":222.57127380371094,"y":61.28324890136719},{"x":258.0982971191406,"y":61.578643798828125},{"x":294.0001525878906,"y":61.57368850708008},{"x":328.2886047363281,"y":61.983428955078125},{"x":150.16307067871094,"y":95.34656524658203},{"x":187.8226776123047,"y":95.9404067993164},{"x":224.164794921875,"y":95.50716400146484},{"x":260.297119140625,"y":95.55215454101562},{"x":295.8479919433594,"y":95.87193298339844},{"x":330.09375,"y":95.52513122558594},{"x":152.22642517089844,"y":130.9381866455078},{"x":189.5354766845703,"y":130.61720275878906},{"x":226.493896484375,"y":130.41339111328125},{"x":261.8100891113281,"y":129.86672973632812},{"x":297.5670471191406,"y":129.5727081298828},{"x":331.8896484375,"y":129.2244873046875},{"x":37.43994140625,"y":168.07479858398438},{"x":76.46713256835938,"y":167.07090759277344},{"x":115.48198699951172,"y":166.87973022460938},{"x":153.33682250976562,"y":166.0260009765625},{"x":191.31735229492188,"y":165.30641174316406},{"x":227.7165069580078,"y":164.65281677246094},{"x":263.91522216796875,"y":164.54383850097656},{"x":299.2347717285156,"y":163.29820251464844},{"x":333.7021789550781,"y":163.20806884765625},{"x":38.54086685180664,"y":204.292724609375},{"x":77.83297729492188,"y":203.44944763183594},{"x":117.28038024902344,"y":202.2854461669922},{"x":155.28155517578125,"y":201.7196044921875},{"x":192.8692169189453,"y":200.71438598632812},{"x":229.7786407470703,"y":199.900634765625},{"x":265.6465148925781,"y":198.5014190673828},{"x":301.16900634765625,"y":197.82461547851562},{"x":336.1993408203125,"y":196.74623107910156},{"x":39.304908752441406,"y":241.22998046875},{"x":78.91952514648438,"y":239.3963165283203},{"x":118.18704986572266,"y":238.4720001220703},{"x":156.9726104736328,"y":237.10093688964844},{"x":194.9278106689453,"y":235.80213928222656},{"x":231.46800231933594,"y":234.56434631347656},{"x":267.4560852050781,"y":233.41798400878906},{"x":303.478271484375,"y":232.15513610839844},{"x":338.3434143066406,"y":230.70643615722656}],"reprojectionErrors":[],"optimisedCameraToObject":{"translation":{"x":-0.15500983654842915,"y":-0.1021424514169681,"z":0.2862284058520099},"rotation":{"quaternion":{"W":0.9950166298560303,"X":-0.03630304761796841,"Y":-0.0876901157545763,"Z":-0.03056858914873348}}},"cornersUsed":[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true],"snapshotName":"img10.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/b2736a45-c86e-4793-aa1d-4d2ccd4b4507/imgs/800x600/img10.png"},{"locationInObjectSpace":[{"x":0.0,"y":0.0,"z":0.0},{"x":0.014986000023782253,"y":0.0,"z":1.5427334801643156E-5},{"x":0.029971998184919357,"y":0.0,"z":2.8481230401666835E-5},{"x":0.044957999140024185,"y":0.0,"z":3.916169225703925E-5},{"x":0.059943996369838715,"y":0.0,"z":4.7468718548770994E-5},{"x":0.07492999732494354,"y":0.0,"z":5.340230927686207E-5},{"x":0.08991599828004837,"y":0.0,"z":5.696246444131248E-5},{"x":0.1049019992351532,"y":0.0,"z":5.814918040414341E-5},{"x":0.11988800019025803,"y":0.0,"z":5.696246444131248E-5},{"x":0.13487400114536285,"y":0.0,"z":5.340230927686207E-5},{"x":0.14986000955104828,"y":0.0,"z":4.746871491079219E-5},{"x":0.1648460030555725,"y":0.0,"z":3.916169225703925E-5},{"x":0.0,"y":0.014986000023782253,"z":1.4121037384029478E-4},{"x":0.014986000023782253,"y":0.014986000023782253,"z":1.5663770318496972E-4},{"x":0.029971998184919357,"y":0.014986000023782253,"z":1.696916006039828E-4},{"x":0.044957999140024185,"y":0.014986000023782253,"z":1.8037206609733403E-4},{"x":0.059943996369838715,"y":0.014986000023782253,"z":1.886790996650234E-4},{"x":0.07492999732494354,"y":0.014986000023782253,"z":1.9461268675513566E-4},{"x":0.08991599828004837,"y":0.014986000023782253,"z":1.9817284191958606E-4},{"x":0.1049019992351532,"y":0.014986000023782253,"z":1.9935955060645938E-4},{"x":0.11988800019025803,"y":0.014986000023782253,"z":1.9817284191958606E-4},{"x":0.13487400114536285,"y":0.014986000023782253,"z":1.9461268675513566E-4},{"x":0.14986000955104828,"y":0.014986000023782253,"z":1.8867908511310816E-4},{"x":0.1648460030555725,"y":0.014986000023782253,"z":1.8037206609733403E-4},{"x":0.0,"y":0.029971998184919357,"z":2.510406484361738E-4},{"x":0.014986000023782253,"y":0.029971998184919357,"z":2.6646797778084874E-4},{"x":0.029971998184919357,"y":0.029971998184919357,"z":2.7952188975177705E-4},{"x":0.044957999140024185,"y":0.029971998184919357,"z":2.902023552451283E-4},{"x":0.059943996369838715,"y":0.029971998184919357,"z":2.985093742609024E-4},{"x":0.07492999732494354,"y":0.029971998184919357,"z":3.044429759029299E-4},{"x":0.08991599828004837,"y":0.029971998184919357,"z":3.080031310673803E-4},{"x":0.1049019992351532,"y":0.029971998184919357,"z":3.091898397542536E-4},{"x":0.11988800019025803,"y":0.029971998184919357,"z":3.080031310673803E-4},{"x":0.13487400114536285,"y":0.029971998184919357,"z":3.044429759029299E-4},{"x":0.14986000955104828,"y":0.029971998184919357,"z":2.985093742609024E-4},{"x":0.1648460030555725,"y":0.029971998184919357,"z":2.902023552451283E-4},{"x":0.0,"y":0.044957999140024185,"z":3.2949086744338274E-4},{"x":0.014986000023782253,"y":0.044957999140024185,"z":3.449181967880577E-4},{"x":0.029971998184919357,"y":0.044957999140024185,"z":3.57972108758986E-4},{"x":0.044957999140024185,"y":0.044957999140024185,"z":3.686525742523372E-4},{"x":0.059943996369838715,"y":0.044957999140024185,"z":3.7695959326811135E-4},{"x":0.07492999732494354,"y":0.044957999140024185,"z":3.828931658063084E-4},{"x":0.08991599828004837,"y":0.044957999140024185,"z":3.864533209707588E-4},{"x":0.1049019992351532,"y":0.044957999140024185,"z":3.8764005876146257E-4},{"x":0.11988800019025803,"y":0.044957999140024185,"z":3.864533209707588E-4},{"x":0.13487400114536285,"y":0.044957999140024185,"z":3.828931658063084E-4},{"x":0.14986000955104828,"y":0.044957999140024185,"z":3.7695959326811135E-4},{"x":0.1648460030555725,"y":0.044957999140024185,"z":3.686525742523372E-4},{"x":0.17983201146125793,"y":0.044957999140024185,"z":3.5797207965515554E-4},{"x":0.0,"y":0.059943996369838715,"z":3.765609872061759E-4},{"x":0.014986000023782253,"y":0.059943996369838715,"z":3.9198831655085087E-4},{"x":0.029971998184919357,"y":0.059943996369838715,"z":4.050422285217792E-4},{"x":0.044957999140024185,"y":0.059943996369838715,"z":4.157226940151304E-4},{"x":0.059943996369838715,"y":0.059943996369838715,"z":4.2402971303090453E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":4.3471017852425575E-4},{"x":0.11988800019025803,"y":0.059943996369838715,"z":4.33523440733552E-4},{"x":0.13487400114536285,"y":0.059943996369838715,"z":4.2996328556910157E-4},{"x":0.14986000955104828,"y":0.059943996369838715,"z":4.2402971303090453E-4},{"x":0.1648460030555725,"y":0.059943996369838715,"z":4.157226940151304E-4},{"x":0.17983201146125793,"y":0.059943996369838715,"z":4.050421994179487E-4},{"x":0.19481800496578217,"y":0.059943996369838715,"z":3.9198831655085087E-4},{"x":0.0,"y":0.07492999732494354,"z":3.922510368283838E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":4.0767836617305875E-4},{"x":0.029971998184919357,"y":0.07492999732494354,"z":4.2073227814398706E-4},{"x":0.044957999140024185,"y":0.07492999732494354,"z":4.314127436373383E-4},{"x":0.059943996369838715,"y":0.07492999732494354,"z":4.397197626531124E-4},{"x":0.1049019992351532,"y":0.07492999732494354,"z":4.5040022814646363E-4},{"x":0.11988800019025803,"y":0.07492999732494354,"z":4.4921349035575986E-4},{"x":0.13487400114536285,"y":0.07492999732494354,"z":4.4565333519130945E-4},{"x":0.14986000955104828,"y":0.07492999732494354,"z":4.397197626531124E-4},{"x":0.1648460030555725,"y":0.07492999732494354,"z":4.314127436373383E-4},{"x":0.17983201146125793,"y":0.07492999732494354,"z":4.207322490401566E-4},{"x":0.19481800496578217,"y":0.07492999732494354,"z":4.0767836617305875E-4},{"x":0.0,"y":0.08991599828004837,"z":3.765609872061759E-4},{"x":0.014986000023782253,"y":0.08991599828004837,"z":3.919883456546813E-4},{"x":0.029971998184919357,"y":0.08991599828004837,"z":4.050422285217792E-4},{"x":0.044957999140024185,"y":0.08991599828004837,"z":4.157226940151304E-4},{"x":0.059943996369838715,"y":0.08991599828004837,"z":4.2402971303090453E-4},{"x":0.07492999732494354,"y":0.08991599828004837,"z":4.2996331467293203E-4},{"x":0.08991599828004837,"y":0.08991599828004837,"z":4.3352346983738244E-4},{"x":0.1049019992351532,"y":0.08991599828004837,"z":4.3471017852425575E-4},{"x":0.11988800019025803,"y":0.08991599828004837,"z":4.3352346983738244E-4},{"x":0.13487400114536285,"y":0.08991599828004837,"z":4.2996331467293203E-4},{"x":0.14986000955104828,"y":0.08991599828004837,"z":4.2402971303090453E-4},{"x":0.1648460030555725,"y":0.08991599828004837,"z":4.157226940151304E-4},{"x":0.17983201146125793,"y":0.08991599828004837,"z":4.050422285217792E-4},{"x":0.19481800496578217,"y":0.08991599828004837,"z":3.9198831655085087E-4},{"x":0.0,"y":0.1049019992351532,"z":3.2949086744338274E-4},{"x":0.014986000023782253,"y":0.1049019992351532,"z":3.449181967880577E-4},{"x":0.029971998184919357,"y":0.1049019992351532,"z":3.57972108758986E-4},{"x":0.044957999140024185,"y":0.1049019992351532,"z":3.686525742523372E-4},{"x":0.059943996369838715,"y":0.1049019992351532,"z":3.7695959326811135E-4},{"x":0.07492999732494354,"y":0.1049019992351532,"z":3.8289319491013885E-4},{"x":0.08991599828004837,"y":0.1049019992351532,"z":3.8645335007458925E-4},{"x":0.1049019992351532,"y":0.1049019992351532,"z":3.8764005876146257E-4},{"x":0.11988800019025803,"y":0.1049019992351532,"z":3.8645335007458925E-4},{"x":0.13487400114536285,"y":0.1049019992351532,"z":3.8289319491013885E-4},{"x":0.14986000955104828,"y":0.1049019992351532,"z":3.7695959326811135E-4},{"x":0.1648460030555725,"y":0.1049019992351532,"z":3.686525742523372E-4},{"x":0.17983201146125793,"y":0.1049019992351532,"z":3.57972108758986E-4},{"x":0.19481800496578217,"y":0.1049019992351532,"z":3.449181967880577E-4},{"x":0.0,"y":0.11988800019025803,"z":2.5104067754000425E-4},{"x":0.014986000023782253,"y":0.11988800019025803,"z":2.664680068846792E-4},{"x":0.029971998184919357,"y":0.11988800019025803,"z":2.7952188975177705E-4},{"x":0.044957999140024185,"y":0.11988800019025803,"z":2.902023552451283E-4},{"x":0.059943996369838715,"y":0.11988800019025803,"z":2.985093742609024E-4},{"x":0.07492999732494354,"y":0.11988800019025803,"z":3.044429759029299E-4},{"x":0.08991599828004837,"y":0.11988800019025803,"z":3.080031310673803E-4},{"x":0.13487400114536285,"y":0.11988800019025803,"z":3.044429759029299E-4},{"x":0.14986000955104828,"y":0.11988800019025803,"z":2.985093742609024E-4},{"x":0.1648460030555725,"y":0.11988800019025803,"z":2.902023552451283E-4},{"x":0.17983201146125793,"y":0.11988800019025803,"z":2.7952188975177705E-4},{"x":0.19481800496578217,"y":0.11988800019025803,"z":2.664680068846792E-4},{"x":0.0,"y":0.13487400114536285,"z":1.4121035928837955E-4},{"x":0.014986000023782253,"y":0.13487400114536285,"z":1.5663770318496972E-4},{"x":0.029971998184919357,"y":0.13487400114536285,"z":1.696916006039828E-4},{"x":0.044957999140024185,"y":0.13487400114536285,"z":1.803720515454188E-4},{"x":0.059943996369838715,"y":0.13487400114536285,"z":1.8867908511310816E-4},{"x":0.07492999732494354,"y":0.13487400114536285,"z":1.9461267220322043E-4},{"x":0.08991599828004837,"y":0.13487400114536285,"z":1.9817282736767083E-4},{"x":0.13487400114536285,"y":0.13487400114536285,"z":1.9461267220322043E-4},{"x":0.14986000955104828,"y":0.13487400114536285,"z":1.8867908511310816E-4},{"x":0.1648460030555725,"y":0.13487400114536285,"z":1.803720515454188E-4},{"x":0.17983201146125793,"y":0.13487400114536285,"z":1.6969158605206758E-4},{"x":0.19481800496578217,"y":0.13487400114536285,"z":1.566376886330545E-4}],"locationInImageSpace":[{"x":187.7825164794922,"y":234.27316284179688},{"x":221.2567138671875,"y":232.49000549316406},{"x":255.26986694335938,"y":230.9062042236328},{"x":289.0301818847656,"y":228.88206481933594},{"x":323.0160217285156,"y":227.6285400390625},{"x":357.5396728515625,"y":225.77239990234375},{"x":391.24481201171875,"y":224.05152893066406},{"x":425.1832275390625,"y":221.71945190429688},{"x":459.2333984375,"y":220.4210662841797},{"x":493.7964172363281,"y":218.13418579101562},{"x":529.0123901367188,"y":216.05606079101562},{"x":563.6322021484375,"y":214.3174285888672},{"x":187.17042541503906,"y":267.3060607910156},{"x":221.14906311035156,"y":266.3128356933594},{"x":255.1717987060547,"y":263.74725341796875},{"x":289.7295837402344,"y":262.4654235839844},{"x":323.8965759277344,"y":260.3606872558594},{"x":358.4177551269531,"y":259.0831298828125},{"x":392.17755126953125,"y":256.901611328125},{"x":427.5971984863281,"y":255.14886474609375},{"x":461.8448791503906,"y":253.88966369628906},{"x":496.3986511230469,"y":251.67306518554688},{"x":530.99072265625,"y":250.30625915527344},{"x":566.383544921875,"y":248.0810089111328},{"x":186.88035583496094,"y":301.6492614746094},{"x":221.17787170410156,"y":299.50006103515625},{"x":255.66818237304688,"y":298.17779541015625},{"x":290.31884765625,"y":295.93035888671875},{"x":324.83837890625,"y":294.17938232421875},{"x":358.9812316894531,"y":292.3448181152344},{"x":394.0989685058594,"y":291.1282958984375},{"x":428.75933837890625,"y":289.18011474609375},{"x":463.409423828125,"y":287.4656982421875},{"x":499.13726806640625,"y":286.3776550292969},{"x":533.6204223632812,"y":283.84527587890625},{"x":568.78369140625,"y":282.21966552734375},{"x":186.88279724121094,"y":335.6820068359375},{"x":221.2085418701172,"y":334.0004577636719},{"x":255.78903198242188,"y":332.0289306640625},{"x":290.8500061035156,"y":330.5135498046875},{"x":325.3701477050781,"y":328.76171875},{"x":360.5374755859375,"y":327.22589111328125},{"x":395.58154296875,"y":325.25665283203125},{"x":430.2366638183594,"y":323.96734619140625},{"x":465.2607727050781,"y":321.9328918457031},{"x":500.5209655761719,"y":320.6092224121094},{"x":536.2562255859375,"y":318.5352478027344},{"x":572.19921875,"y":316.73468017578125},{"x":607.2993774414062,"y":314.8664245605469},{"x":186.39227294921875,"y":370.48126220703125},{"x":220.93826293945312,"y":368.6021423339844},{"x":256.33355712890625,"y":367.14605712890625},{"x":291.26104736328125,"y":365.0762939453125},{"x":326.3270263671875,"y":363.6920471191406},{"x":432.1412658691406,"y":358.5384216308594},{"x":467.562744140625,"y":357.071533203125},{"x":503.1150207519531,"y":355.4839782714844},{"x":538.779541015625,"y":353.9176940917969},{"x":574.2906494140625,"y":351.849609375},{"x":610.5106811523438,"y":350.630126953125},{"x":646.5413818359375,"y":348.7878112792969},{"x":185.2857666015625,"y":405.8057556152344},{"x":221.0235595703125,"y":404.3566589355469},{"x":256.21697998046875,"y":402.47967529296875},{"x":291.3793029785156,"y":401.2237548828125},{"x":327.0204772949219,"y":398.96014404296875},{"x":434.0933532714844,"y":394.5973815917969},{"x":468.9472961425781,"y":392.1216125488281},{"x":505.34271240234375,"y":391.4614562988281},{"x":541.1093139648438,"y":389.4097595214844},{"x":577.538818359375,"y":388.1285095214844},{"x":613.773193359375,"y":386.6067810058594},{"x":650.2760620117188,"y":384.9954833984375},{"x":185.10916137695312,"y":442.4790344238281},{"x":220.8872833251953,"y":440.7454528808594},{"x":256.4639892578125,"y":439.0987548828125},{"x":292.0523986816406,"y":437.09002685546875},{"x":327.666015625,"y":435.9925537109375},{"x":364.0578308105469,"y":434.07965087890625},{"x":399.9831237792969,"y":432.0453796386719},{"x":436.0015563964844,"y":430.79840087890625},{"x":471.63201904296875,"y":429.26873779296875},{"x":507.921630859375,"y":427.5091552734375},{"x":544.2062377929688,"y":426.243896484375},{"x":580.13818359375,"y":424.3030700683594},{"x":617.696533203125,"y":422.8036804199219},{"x":654.0745239257812,"y":421.49822998046875},{"x":184.39488220214844,"y":478.9794921875},{"x":220.49444580078125,"y":477.47174072265625},{"x":256.6601257324219,"y":475.7062683105469},{"x":292.3505859375,"y":474.4012756347656},{"x":328.3316345214844,"y":472.12200927734375},{"x":365.0749816894531,"y":470.5190734863281},{"x":401.17047119140625,"y":469.1893005371094},{"x":437.54327392578125,"y":467.755615234375},{"x":473.5428161621094,"y":465.9844970703125},{"x":510.4418640136719,"y":464.537841796875},{"x":547.1070556640625,"y":463.0525207519531},{"x":584.1256103515625,"y":461.54302978515625},{"x":621.0928955078125,"y":460.2845764160156},{"x":658.3908081054688,"y":458.17388916015625},{"x":184.34173583984375,"y":516.6126098632812},{"x":220.10525512695312,"y":515.1177978515625},{"x":256.5157775878906,"y":513.8904418945312},{"x":293.13372802734375,"y":511.8784484863281},{"x":329.6705322265625,"y":510.3694152832031},{"x":366.0526428222656,"y":508.6646728515625},{"x":402.6906433105469,"y":507.35797119140625},{"x":513.3229370117188,"y":502.5835266113281},{"x":549.9656372070312,"y":501.54345703125},{"x":586.5917358398438,"y":499.3337097167969},{"x":624.6546020507812,"y":498.58721923828125},{"x":662.1011352539062,"y":496.8462219238281},{"x":183.2321319580078,"y":555.2014770507812},{"x":219.80117797851562,"y":553.9806518554688},{"x":256.7880554199219,"y":551.9970092773438},{"x":293.7194519042969,"y":550.3042602539062},{"x":330.0374450683594,"y":548.6707153320312},{"x":367.4869689941406,"y":547.168212890625},{"x":404.0223083496094,"y":545.7032470703125},{"x":515.9241943359375,"y":541.2923583984375},{"x":553.3587646484375,"y":539.8833618164062},{"x":590.78125,"y":538.30126953125},{"x":628.54296875,"y":537.021240234375},{"x":666.5935668945312,"y":535.7032470703125}],"reprojectionErrors":[{"x":-0.01727294921875,"y":0.2713165283203125},{"x":0.22320556640625,"y":0.2990875244140625},{"x":0.00506591796875,"y":0.1217041015625},{"x":0.12115478515625,"y":0.378814697265625},{"x":0.094207763671875,"y":-0.1406097412109375},{"x":-0.38702392578125,"y":-0.0634002685546875},{"x":0.034912109375,"y":-0.12750244140625},{"x":0.309326171875,"y":0.4134979248046875},{"x":0.558837890625,"y":-0.0853729248046875},{"x":0.38348388671875,"y":0.3980255126953125},{"x":-0.355712890625,"y":0.6663665771484375},{"x":-0.40850830078125,"y":0.5888519287109375},{"x":0.3328704833984375,"y":0.516876220703125},{"x":-0.07159423828125,"y":0.05841064453125},{"x":-0.001434326171875,"y":0.417205810546875},{"x":-0.20050048828125,"y":-0.056884765625},{"x":0.4478759765625,"y":0.367218017578125},{"x":-0.4764404296875,"y":0.356719970703125},{"x":-0.140472412109375,"y":-0.1532135009765625},{"x":-0.021148681640625,"y":0.288299560546875},{"x":0.15045166015625,"y":-0.126007080078125},{"x":-0.38690185546875,"y":0.312042236328125},{"x":0.21405029296875,"y":-0.20672607421875},{"x":0.187652587890625,"y":0.240386962890625},{"x":-0.156829833984375,"y":0.423095703125},{"x":0.310272216796875,"y":0.53424072265625},{"x":-0.110015869140625,"y":0.021881103515625},{"x":0.015716552734375,"y":0.235626220703125},{"x":0.2415771484375,"y":0.209991455078125},{"x":-0.519378662109375,"y":-0.447662353515625},{"x":0.0565185546875,"y":0.333282470703125},{"x":0.045654296875,"y":0.20166015625},{"x":-0.17071533203125,"y":0.0296630859375},{"x":0.06512451171875,"y":0.037200927734375},{"x":0.1306610107421875,"y":0.32977294921875},{"x":-0.19866943359375,"y":0.161163330078125},{"x":-0.210357666015625,"y":0.33551025390625},{"x":0.220001220703125,"y":-0.07977294921875},{"x":0.372711181640625,"y":0.244781494140625},{"x":0.381927490234375,"y":-0.146820068359375},{"x":0.00982666015625,"y":0.20648193359375},{"x":-0.47503662109375,"y":0.2808837890625},{"x":-0.0208740234375,"y":0.41741943359375},{"x":-0.0949859619140625,"y":0.079071044921875},{"x":0.2195892333984375,"y":0.31329345703125},{"x":-0.22918701171875,"y":0.11981201171875},{"x":-0.123077392578125,"y":0.535308837890625},{"x":-0.067169189453125,"y":0.260528564453125},{"x":0.025482177734375,"y":0.407989501953125},{"x":0.119354248046875,"y":0.100128173828125},{"x":0.13116455078125,"y":-0.02239990234375},{"x":0.39306640625,"y":0.351715087890625},{"x":0.0439453125,"y":-0.12799072265625},{"x":-0.01666259765625,"y":0.00982666015625},{"x":0.056365966796875,"y":0.30120849609375},{"x":0.238616943359375,"y":-0.0662841796875},{"x":0.0318603515625,"y":0.5694580078125},{"x":-0.186676025390625,"y":0.021484375},{"x":0.765228271484375,"y":0.85107421875},{"x":0.271575927734375,"y":-0.1396484375},{"x":0.50390625,"y":0.25634765625},{"x":0.1717529296875,"y":-0.1229248046875},{"x":0.13446044921875,"y":-0.2666015625},{"x":-0.07037353515625,"y":-0.32568359375},{"x":0.257080078125,"y":-0.377105712890625},{"x":-0.0355682373046875,"y":-0.226837158203125},{"x":0.18145751953125,"y":-0.248077392578125},{"x":-0.36126708984375,"y":0.065185546875},{"x":-0.34356689453125,"y":0.49560546875},{"x":-0.32379150390625,"y":0.134490966796875},{"x":0.180389404296875,"y":0.05169677734375},{"x":0.12310791015625,"y":0.1944580078125},{"x":0.1697998046875,"y":-0.161529541015625},{"x":0.66943359375,"y":0.153533935546875},{"x":-0.35577392578125,"y":0.022613525390625},{"x":-0.0977783203125,"y":-0.306884765625},{"x":0.4529876708984375,"y":-0.12841796875},{"x":0.165496826171875,"y":-0.17132568359375},{"x":-0.09735107421875,"y":0.039825439453125},{"x":0.207000732421875,"y":-0.213226318359375},{"x":0.31396484375,"y":0.5042724609375},{"x":-0.24688720703125,"y":0.541595458984375},{"x":-0.064178466796875,"y":0.301910400390625},{"x":-0.06182861328125,"y":0.1622314453125},{"x":0.412078857421875,"y":0.355987548828125},{"x":0.08599853515625,"y":0.221282958984375},{"x":0.09466552734375,"y":0.12115478515625},{"x":-0.14788818359375,"y":0.041046142578125},{"x":-0.23565673828125,"y":-0.294281005859375},{"x":-0.54925537109375,"y":0.218353271484375},{"x":-0.0489959716796875,"y":-0.32025146484375},{"x":0.3360748291015625,"y":-0.3421630859375},{"x":0.1666259765625,"y":-0.634765625},{"x":-0.116485595703125,"y":-0.14605712890625},{"x":-0.223480224609375,"y":-0.16375732421875},{"x":-0.07952880859375,"y":0.010833740234375},{"x":-0.0938720703125,"y":-0.21612548828125},{"x":-0.2569580078125,"y":-0.064117431640625},{"x":0.1273193359375,"y":-0.572235107421875},{"x":0.63226318359375,"y":0.085601806640625},{"x":-0.19403076171875,"y":-0.723663330078125},{"x":-0.297119140625,"y":-0.542266845703125},{"x":0.4674835205078125,"y":-0.74383544921875},{"x":0.39385986328125,"y":-1.0042724609375},{"x":-0.0032958984375,"y":-0.50482177734375},{"x":-0.249420166015625,"y":-0.2991943359375},{"x":0.214691162109375,"y":-0.15582275390625},{"x":-0.354522705078125,"y":-0.14654541015625},{"x":-0.30621337890625,"y":-0.37548828125},{"x":-0.23150634765625,"y":-0.3060302734375},{"x":-0.38836669921875,"y":-0.5421142578125},{"x":-0.7252197265625,"y":-0.74365234375}],"optimisedCameraToObject":{"translation":{"x":-0.09916623507644333,"y":-0.03319270987083322,"z":0.3084503362819142},"rotation":{"quaternion":{"W":0.9957598248443991,"X":-0.08771142142727974,"Y":0.015054020871489047,"Z":-0.023290646892231034}}},"cornersUsed":[true,true,true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,false,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true],"snapshotName":"img11.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/b2736a45-c86e-4793-aa1d-4d2ccd4b4507/imgs/800x600/img11.png"}],"calobjectSize":{"width":14.0,"height":10.0},"calobjectSpacing":0.014986,"lensmodel":"LENSMODEL_OPENCV"} \ No newline at end of file diff --git a/src/main/deploy/calibrations/right_arducam_800.json b/src/main/deploy/calibrations/right_arducam_800.json new file mode 100644 index 0000000..cc66a68 --- /dev/null +++ b/src/main/deploy/calibrations/right_arducam_800.json @@ -0,0 +1 @@ +{"resolution":{"width":800.0,"height":600.0},"cameraIntrinsics":{"rows":3,"cols":3,"type":6,"data":[679.120049396991,0.0,383.5307233098347,0.0,679.4596233444641,327.3509164551191,0.0,0.0,1.0]},"distCoeffs":{"rows":1,"cols":8,"type":6,"data":[0.028933341159757927,-0.049300656698511795,9.910160280114924E-4,-5.587689095220936E-4,0.011616322059149767,-0.0011326881568524906,0.002146274759851892,-3.8743677326106044E-4]},"calobjectWarp":[2.3090315116645714E-4,5.026112559622542E-4],"observations":[{"locationInObjectSpace":[{"x":0.0,"y":0.0,"z":0.0},{"x":0.014986000023782253,"y":0.0,"z":6.126001972006634E-5},{"x":0.029971998184919357,"y":0.0,"z":1.1309541878290474E-4},{"x":0.08991599828004837,"y":0.0,"z":2.261908375658095E-4},{"x":0.1049019992351532,"y":0.0,"z":2.3090315517038107E-4},{"x":0.11988800019025803,"y":0.0,"z":2.261908375658095E-4},{"x":0.13487400114536285,"y":0.0,"z":2.120539138559252E-4},{"x":0.17983201146125793,"y":0.0,"z":1.1309538240311667E-4},{"x":0.19481800496578217,"y":0.0,"z":6.12599978921935E-5},{"x":0.0,"y":0.014986000023782253,"z":1.8094005645252764E-4},{"x":0.014986000023782253,"y":0.014986000023782253,"z":2.4220006889663637E-4},{"x":0.029971998184919357,"y":0.014986000023782253,"z":2.940354752354324E-4},{"x":0.07492999732494354,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.08991599828004837,"y":0.014986000023782253,"z":4.0713089401833713E-4},{"x":0.1049019992351532,"y":0.014986000023782253,"z":4.118432116229087E-4},{"x":0.11988800019025803,"y":0.014986000023782253,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.14986000955104828,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.1648460030555725,"y":0.014986000023782253,"z":3.3644624636508524E-4},{"x":0.0,"y":0.029971998184919357,"z":3.216711920686066E-4},{"x":0.014986000023782253,"y":0.029971998184919357,"z":3.8293120451271534E-4},{"x":0.029971998184919357,"y":0.029971998184919357,"z":4.3476661085151136E-4},{"x":0.044957999140024185,"y":0.029971998184919357,"z":4.771773819811642E-4},{"x":0.059943996369838715,"y":0.029971998184919357,"z":5.101635470055044E-4},{"x":0.07492999732494354,"y":0.029971998184919357,"z":5.337250768207014E-4},{"x":0.08991599828004837,"y":0.029971998184919357,"z":5.478620296344161E-4},{"x":0.13487400114536285,"y":0.029971998184919357,"z":5.337250768207014E-4},{"x":0.14986000955104828,"y":0.029971998184919357,"z":5.101635470055044E-4},{"x":0.1648460030555725,"y":0.029971998184919357,"z":4.771773819811642E-4},{"x":0.0,"y":0.044957999140024185,"z":4.221934359520674E-4},{"x":0.014986000023782253,"y":0.044957999140024185,"z":4.8345347750000656E-4},{"x":0.029971998184919357,"y":0.044957999140024185,"z":5.352888838388026E-4},{"x":0.044957999140024185,"y":0.044957999140024185,"z":5.77699625864625E-4},{"x":0.08991599828004837,"y":0.044957999140024185,"z":6.483842735178769E-4},{"x":0.13487400114536285,"y":0.044957999140024185,"z":6.34247378911823E-4},{"x":0.14986000955104828,"y":0.044957999140024185,"z":6.106857908889651E-4},{"x":0.1648460030555725,"y":0.044957999140024185,"z":5.77699625864625E-4},{"x":0.17983201146125793,"y":0.044957999140024185,"z":5.352888256311417E-4},{"x":0.19481800496578217,"y":0.044957999140024185,"z":4.834534483961761E-4},{"x":0.0,"y":0.059943996369838715,"z":4.825067881029099E-4},{"x":0.014986000023782253,"y":0.059943996369838715,"z":5.437668296508491E-4},{"x":0.029971998184919357,"y":0.059943996369838715,"z":5.956022068858147E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":7.134099723771214E-4},{"x":0.11988800019025803,"y":0.059943996369838715,"z":7.086976547725499E-4},{"x":0.13487400114536285,"y":0.059943996369838715,"z":6.945607019588351E-4},{"x":0.14986000955104828,"y":0.059943996369838715,"z":6.709991721436381E-4},{"x":0.1648460030555725,"y":0.059943996369838715,"z":6.38013007119298E-4},{"x":0.17983201146125793,"y":0.059943996369838715,"z":5.956022068858147E-4},{"x":0.0,"y":0.07492999732494354,"z":5.026112776249647E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":5.638712900690734E-4},{"x":0.029971998184919357,"y":0.07492999732494354,"z":6.15706667304039E-4},{"x":0.1049019992351532,"y":0.07492999732494354,"z":7.335144327953458E-4},{"x":0.11988800019025803,"y":0.07492999732494354,"z":7.288021151907742E-4},{"x":0.13487400114536285,"y":0.07492999732494354,"z":7.146651623770595E-4},{"x":0.17983201146125793,"y":0.07492999732494354,"z":6.15706667304039E-4},{"x":0.0,"y":0.08991599828004837,"z":4.825068172067404E-4},{"x":0.014986000023782253,"y":0.08991599828004837,"z":5.437668296508491E-4},{"x":0.029971998184919357,"y":0.08991599828004837,"z":5.956022068858147E-4},{"x":0.044957999140024185,"y":0.08991599828004837,"z":6.38013007119298E-4},{"x":0.059943996369838715,"y":0.08991599828004837,"z":6.709991721436381E-4},{"x":0.07492999732494354,"y":0.08991599828004837,"z":6.945607019588351E-4},{"x":0.08991599828004837,"y":0.08991599828004837,"z":7.086976547725499E-4},{"x":0.13487400114536285,"y":0.08991599828004837,"z":6.945607019588351E-4},{"x":0.19481800496578217,"y":0.08991599828004837,"z":5.437668296508491E-4},{"x":0.0,"y":0.1049019992351532,"z":4.2219346505589783E-4},{"x":0.014986000023782253,"y":0.1049019992351532,"z":4.8345347750000656E-4},{"x":0.029971998184919357,"y":0.1049019992351532,"z":5.352888838388026E-4},{"x":0.044957999140024185,"y":0.1049019992351532,"z":5.776996840722859E-4},{"x":0.059943996369838715,"y":0.1049019992351532,"z":6.10685849096626E-4},{"x":0.07492999732494354,"y":0.1049019992351532,"z":6.34247378911823E-4},{"x":0.08991599828004837,"y":0.1049019992351532,"z":6.483842735178769E-4},{"x":0.13487400114536285,"y":0.1049019992351532,"z":6.34247378911823E-4},{"x":0.19481800496578217,"y":0.1049019992351532,"z":4.834534483961761E-4},{"x":0.0,"y":0.11988800019025803,"z":3.216711920686066E-4},{"x":0.014986000023782253,"y":0.11988800019025803,"z":3.829312336165458E-4},{"x":0.029971998184919357,"y":0.11988800019025803,"z":4.3476661085151136E-4},{"x":0.044957999140024185,"y":0.11988800019025803,"z":4.771774110849947E-4},{"x":0.059943996369838715,"y":0.11988800019025803,"z":5.101635470055044E-4},{"x":0.07492999732494354,"y":0.11988800019025803,"z":5.337251350283623E-4},{"x":0.08991599828004837,"y":0.11988800019025803,"z":5.478620296344161E-4},{"x":0.1049019992351532,"y":0.11988800019025803,"z":5.525743472389877E-4},{"x":0.11988800019025803,"y":0.11988800019025803,"z":5.478620296344161E-4},{"x":0.17983201146125793,"y":0.11988800019025803,"z":4.347665817476809E-4},{"x":0.19481800496578217,"y":0.11988800019025803,"z":3.8293120451271534E-4},{"x":0.0,"y":0.13487400114536285,"z":1.8094004190061241E-4},{"x":0.014986000023782253,"y":0.13487400114536285,"z":2.4220005434472114E-4},{"x":0.029971998184919357,"y":0.13487400114536285,"z":2.9403544613160193E-4},{"x":0.044957999140024185,"y":0.13487400114536285,"z":3.3644624636508524E-4},{"x":0.08991599828004837,"y":0.13487400114536285,"z":4.0713089401833713E-4},{"x":0.1049019992351532,"y":0.13487400114536285,"z":4.1184318251907825E-4},{"x":0.1648460030555725,"y":0.13487400114536285,"z":3.3644624636508524E-4},{"x":0.17983201146125793,"y":0.13487400114536285,"z":2.940354170277715E-4},{"x":0.19481800496578217,"y":0.13487400114536285,"z":2.422000397928059E-4}],"locationInImageSpace":[{"x":242.479248046875,"y":136.8631591796875},{"x":267.6681823730469,"y":137.75682067871094},{"x":292.3965759277344,"y":137.83981323242188},{"x":393.8215026855469,"y":139.62425231933594},{"x":419.1112365722656,"y":140.41017150878906},{"x":445.04217529296875,"y":140.646240234375},{"x":469.9375,"y":140.94171142578125},{"x":547.7456665039062,"y":142.75299072265625},{"x":572.9405517578125,"y":142.5771484375},{"x":242.737548828125,"y":163.12326049804688},{"x":267.2696838378906,"y":163.35255432128906},{"x":292.50732421875,"y":163.9632110595703},{"x":367.9149169921875,"y":164.99452209472656},{"x":393.1539001464844,"y":166.2394561767578},{"x":418.5091857910156,"y":166.13064575195312},{"x":444.38006591796875,"y":167.62149047851562},{"x":468.8293151855469,"y":167.78076171875},{"x":494.03057861328125,"y":167.83641052246094},{"x":520.12646484375,"y":168.78115844726562},{"x":242.58921813964844,"y":188.60421752929688},{"x":267.6153259277344,"y":188.6495819091797},{"x":292.0555725097656,"y":189.88551330566406},{"x":316.8783874511719,"y":189.989990234375},{"x":342.18853759765625,"y":190.4833221435547},{"x":367.0078125,"y":191.0956573486328},{"x":392.1666259765625,"y":192.01051330566406},{"x":468.26849365234375,"y":194.00535583496094},{"x":493.56915283203125,"y":193.6925048828125},{"x":518.8014526367188,"y":194.8196258544922},{"x":242.64520263671875,"y":213.3155975341797},{"x":267.5194091796875,"y":214.2922821044922},{"x":292.4507141113281,"y":215.14117431640625},{"x":316.6953430175781,"y":215.85122680664062},{"x":391.6502685546875,"y":217.14627075195312},{"x":467.25775146484375,"y":218.68096923828125},{"x":492.107177734375,"y":219.50389099121094},{"x":517.2098388671875,"y":220.639892578125},{"x":543.0640258789062,"y":220.71646118164062},{"x":568.5908203125,"y":221.0605926513672},{"x":243.20785522460938,"y":238.66920471191406},{"x":267.8750915527344,"y":239.66815185546875},{"x":292.16082763671875,"y":239.9407196044922},{"x":416.2700500488281,"y":243.26571655273438},{"x":441.022216796875,"y":243.7806854248047},{"x":466.1119079589844,"y":244.24560546875},{"x":490.78533935546875,"y":245.0091094970703},{"x":515.9360961914062,"y":245.0989990234375},{"x":541.6544189453125,"y":246.14718627929688},{"x":242.8361053466797,"y":263.2912902832031},{"x":267.5627746582031,"y":264.1543273925781},{"x":291.969482421875,"y":264.54681396484375},{"x":415.18829345703125,"y":267.97576904296875},{"x":439.2405700683594,"y":268.1610107421875},{"x":465.0495910644531,"y":269.273681640625},{"x":539.9728393554688,"y":270.8000793457031},{"x":243.0857391357422,"y":288.14013671875},{"x":267.7629089355469,"y":289.1489562988281},{"x":291.9300842285156,"y":289.5721130371094},{"x":316.0245666503906,"y":289.6560974121094},{"x":340.1510314941406,"y":291.2339782714844},{"x":365.4919128417969,"y":291.5093688964844},{"x":389.9805908203125,"y":291.9983825683594},{"x":464.6756896972656,"y":294.9158935546875},{"x":564.0804443359375,"y":297.4429016113281},{"x":243.1048126220703,"y":312.033935546875},{"x":267.52459716796875,"y":312.73724365234375},{"x":291.47540283203125,"y":313.76055908203125},{"x":315.6698913574219,"y":314.7322998046875},{"x":340.6272888183594,"y":315.08599853515625},{"x":364.3656005859375,"y":315.84136962890625},{"x":388.4723815917969,"y":315.7482604980469},{"x":462.7592468261719,"y":318.3171691894531},{"x":562.314697265625,"y":321.6593933105469},{"x":243.02639770507812,"y":336.5691833496094},{"x":267.3565368652344,"y":336.97027587890625},{"x":291.045166015625,"y":337.930908203125},{"x":315.37567138671875,"y":338.54815673828125},{"x":339.4300231933594,"y":339.1933288574219},{"x":363.9523620605469,"y":339.7809753417969},{"x":388.1887512207031,"y":341.1097106933594},{"x":412.58648681640625,"y":340.7646789550781},{"x":437.3987731933594,"y":342.0733337402344},{"x":535.8428955078125,"y":345.1988525390625},{"x":561.0606689453125,"y":346.0093994140625},{"x":243.26686096191406,"y":360.77813720703125},{"x":267.3990478515625,"y":360.763427734375},{"x":291.8421936035156,"y":361.9964599609375},{"x":315.51019287109375,"y":362.22955322265625},{"x":388.0597839355469,"y":364.6875915527344},{"x":412.27996826171875,"y":365.675537109375},{"x":510.19757080078125,"y":368.3821716308594},{"x":534.8214111328125,"y":370.1459045410156},{"x":559.6143188476562,"y":370.2789306640625}],"reprojectionErrors":[{"x":0.031219482421875,"y":0.189056396484375},{"x":-0.13873291015625,"y":-0.2159881591796875},{"x":0.214111328125,"y":0.1886749267578125},{"x":0.1558837890625,"y":0.47637939453125},{"x":-0.44818115234375,"y":0.1065826416015625},{"x":0.25946044921875,"y":0.7616424560546875},{"x":-0.0416107177734375,"y":-0.240142822265625},{"x":-0.176788330078125,"y":0.4826507568359375},{"x":-0.206634521484375,"y":-0.243988037109375},{"x":-0.281158447265625,"y":0.383026123046875},{"x":-0.797576904296875,"y":-0.589691162109375},{"x":0.18341064453125,"y":-0.2308349609375},{"x":0.273590087890625,"y":-0.1774444580078125},{"x":-0.00494384765625,"y":0.32647705078125},{"x":0.363250732421875,"y":-0.3597564697265625},{"x":0.411773681640625,"y":0.085906982421875},{"x":0.03778076171875,"y":0.1431732177734375},{"x":0.221435546875,"y":0.08197021484375},{"x":0.134368896484375,"y":-0.281219482421875},{"x":-0.03790283203125,"y":-0.3221588134765625},{"x":0.3662261962890625,"y":0.379638671875},{"x":0.109619140625,"y":-0.0183563232421875},{"x":-0.143798828125,"y":-0.287506103515625},{"x":0.351593017578125,"y":-0.416717529296875},{"x":0.009368896484375,"y":0.0377349853515625},{"x":-0.35467529296875,"y":0.26397705078125},{"x":-0.2315673828125,"y":0.0020904541015625},{"x":-0.28631591796875,"y":0.252197265625},{"x":-0.0657196044921875,"y":0.030914306640625},{"x":-0.369140625,"y":-0.2759552001953125},{"x":-0.1719970703125,"y":-0.17059326171875},{"x":-0.239013671875,"y":-0.0131683349609375},{"x":0.185638427734375,"y":-0.1522369384765625},{"x":0.41912841796875,"y":0.161376953125},{"x":-0.046356201171875,"y":-0.022369384765625},{"x":0.72332763671875,"y":0.445404052734375},{"x":-0.191162109375,"y":-0.01153564453125},{"x":0.0250244140625,"y":0.445892333984375},{"x":0.2652740478515625,"y":-0.1763916015625},{"x":-0.16229248046875,"y":-0.521697998046875},{"x":-0.021453857421875,"y":-0.278411865234375},{"x":0.252349853515625,"y":0.3070068359375},{"x":-0.38201904296875,"y":-0.609375},{"x":0.3249664306640625,"y":0.209930419921875},{"x":0.039093017578125,"y":0.1973876953125},{"x":0.280059814453125,"y":-0.13165283203125},{"x":0.337005615234375,"y":-0.405548095703125},{"x":-0.307403564453125,"y":-0.0577392578125},{"x":0.6656494140625,"y":0.694122314453125},{"x":0.115203857421875,"y":0.275238037109375},{"x":-0.09173583984375,"y":-0.143707275390625},{"x":0.499114990234375,"y":0.004913330078125},{"x":0.238525390625,"y":0.151611328125},{"x":0.328582763671875,"y":-0.43841552734375},{"x":0.0994873046875,"y":6.103515625E-5},{"x":0.2703857421875,"y":-0.626556396484375},{"x":0.050750732421875,"y":0.132049560546875},{"x":-0.423126220703125,"y":-0.3524169921875},{"x":-0.06329345703125,"y":0.167816162109375},{"x":-0.15966796875,"y":-0.001129150390625},{"x":-0.099365234375,"y":-0.216094970703125},{"x":-0.19696044921875,"y":0.22088623046875}],"optimisedCameraToObject":{"translation":{"x":-0.08387782823788868,"y":-0.11313172537638354,"z":0.40393570579929355},"rotation":{"quaternion":{"W":0.9973481323654583,"X":0.06852259165887835,"Y":0.020481751051907356,"Z":0.013485368861500353}}},"cornersUsed":[true,true,true,false,false,false,true,true,true,true,false,false,true,true,true,true,true,false,false,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,false,false,true,true,true,false,false,true,true,true,true,false,false,true,false,false,true,true,true,true,true,true,true,true,false,false,false,false,true,true,true,true,true,true,false,true,true,true,false,false,false,false,true,true,true,false,false,true,false,true,true,true,true,true,true,true,false,false,true,false,false,false,true,true,true,true,true,true,true,true,false,false,true,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,true,true,true,true,true,true,false,false,true,true,false,false,false,true,true,true],"snapshotName":"img0.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/6194b9a1-d71c-4a88-9d65-79d4ce11b4d1/imgs/800x600/img0.png"},{"locationInObjectSpace":[{"x":0.014986000023782253,"y":0.0,"z":6.126001972006634E-5},{"x":0.029971998184919357,"y":0.0,"z":1.1309541878290474E-4},{"x":0.044957999140024185,"y":0.0,"z":1.5550620446447283E-4},{"x":0.1049019992351532,"y":0.0,"z":2.3090315517038107E-4},{"x":0.11988800019025803,"y":0.0,"z":2.261908375658095E-4},{"x":0.13487400114536285,"y":0.0,"z":2.120539138559252E-4},{"x":0.17983201146125793,"y":0.0,"z":1.1309538240311667E-4},{"x":0.059943996369838715,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.1049019992351532,"y":0.014986000023782253,"z":4.118432116229087E-4},{"x":0.11988800019025803,"y":0.014986000023782253,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.14986000955104828,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.1648460030555725,"y":0.014986000023782253,"z":3.3644624636508524E-4},{"x":0.17983201146125793,"y":0.014986000023782253,"z":2.9403544613160193E-4},{"x":0.07492999732494354,"y":0.029971998184919357,"z":5.337250768207014E-4},{"x":0.08991599828004837,"y":0.029971998184919357,"z":5.478620296344161E-4},{"x":0.1049019992351532,"y":0.029971998184919357,"z":5.525743472389877E-4},{"x":0.11988800019025803,"y":0.029971998184919357,"z":5.478620296344161E-4},{"x":0.13487400114536285,"y":0.029971998184919357,"z":5.337250768207014E-4},{"x":0.14986000955104828,"y":0.029971998184919357,"z":5.101635470055044E-4},{"x":0.19481800496578217,"y":0.029971998184919357,"z":3.8293120451271534E-4},{"x":0.014986000023782253,"y":0.044957999140024185,"z":4.8345347750000656E-4},{"x":0.029971998184919357,"y":0.044957999140024185,"z":5.352888838388026E-4},{"x":0.07492999732494354,"y":0.044957999140024185,"z":6.34247378911823E-4},{"x":0.08991599828004837,"y":0.044957999140024185,"z":6.483842735178769E-4},{"x":0.1049019992351532,"y":0.044957999140024185,"z":6.530965911224484E-4},{"x":0.11988800019025803,"y":0.044957999140024185,"z":6.483842735178769E-4},{"x":0.13487400114536285,"y":0.044957999140024185,"z":6.34247378911823E-4},{"x":0.0,"y":0.059943996369838715,"z":4.825067881029099E-4},{"x":0.014986000023782253,"y":0.059943996369838715,"z":5.437668296508491E-4},{"x":0.029971998184919357,"y":0.059943996369838715,"z":5.956022068858147E-4},{"x":0.07492999732494354,"y":0.059943996369838715,"z":6.945607019588351E-4},{"x":0.08991599828004837,"y":0.059943996369838715,"z":7.086976547725499E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":7.134099723771214E-4},{"x":0.11988800019025803,"y":0.059943996369838715,"z":7.086976547725499E-4},{"x":0.13487400114536285,"y":0.059943996369838715,"z":6.945607019588351E-4},{"x":0.0,"y":0.07492999732494354,"z":5.026112776249647E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":5.638712900690734E-4},{"x":0.029971998184919357,"y":0.07492999732494354,"z":6.15706667304039E-4},{"x":0.07492999732494354,"y":0.07492999732494354,"z":7.146651623770595E-4},{"x":0.08991599828004837,"y":0.07492999732494354,"z":7.288021151907742E-4},{"x":0.1049019992351532,"y":0.07492999732494354,"z":7.335144327953458E-4},{"x":0.11988800019025803,"y":0.07492999732494354,"z":7.288021151907742E-4},{"x":0.13487400114536285,"y":0.07492999732494354,"z":7.146651623770595E-4},{"x":0.14986000955104828,"y":0.07492999732494354,"z":6.911036325618625E-4},{"x":0.0,"y":0.08991599828004837,"z":4.825068172067404E-4},{"x":0.014986000023782253,"y":0.08991599828004837,"z":5.437668296508491E-4},{"x":0.029971998184919357,"y":0.08991599828004837,"z":5.956022068858147E-4},{"x":0.07492999732494354,"y":0.08991599828004837,"z":6.945607019588351E-4},{"x":0.08991599828004837,"y":0.08991599828004837,"z":7.086976547725499E-4},{"x":0.1648460030555725,"y":0.08991599828004837,"z":6.38013007119298E-4},{"x":0.0,"y":0.1049019992351532,"z":4.2219346505589783E-4},{"x":0.014986000023782253,"y":0.1049019992351532,"z":4.8345347750000656E-4},{"x":0.029971998184919357,"y":0.1049019992351532,"z":5.352888838388026E-4},{"x":0.07492999732494354,"y":0.1049019992351532,"z":6.34247378911823E-4},{"x":0.17983201146125793,"y":0.1049019992351532,"z":5.352888256311417E-4},{"x":0.19481800496578217,"y":0.1049019992351532,"z":4.834534483961761E-4},{"x":0.0,"y":0.11988800019025803,"z":3.216711920686066E-4},{"x":0.014986000023782253,"y":0.11988800019025803,"z":3.829312336165458E-4},{"x":0.029971998184919357,"y":0.11988800019025803,"z":4.3476661085151136E-4},{"x":0.044957999140024185,"y":0.11988800019025803,"z":4.771774110849947E-4},{"x":0.059943996369838715,"y":0.11988800019025803,"z":5.101635470055044E-4},{"x":0.07492999732494354,"y":0.11988800019025803,"z":5.337251350283623E-4},{"x":0.11988800019025803,"y":0.11988800019025803,"z":5.478620296344161E-4},{"x":0.13487400114536285,"y":0.11988800019025803,"z":5.337251350283623E-4},{"x":0.17983201146125793,"y":0.11988800019025803,"z":4.347665817476809E-4},{"x":0.19481800496578217,"y":0.11988800019025803,"z":3.8293120451271534E-4},{"x":0.0,"y":0.13487400114536285,"z":1.8094004190061241E-4},{"x":0.014986000023782253,"y":0.13487400114536285,"z":2.4220005434472114E-4},{"x":0.029971998184919357,"y":0.13487400114536285,"z":2.9403544613160193E-4},{"x":0.044957999140024185,"y":0.13487400114536285,"z":3.3644624636508524E-4},{"x":0.059943996369838715,"y":0.13487400114536285,"z":3.694324113894254E-4},{"x":0.07492999732494354,"y":0.13487400114536285,"z":3.929939412046224E-4},{"x":0.11988800019025803,"y":0.13487400114536285,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.13487400114536285,"z":3.929939412046224E-4},{"x":0.14986000955104828,"y":0.13487400114536285,"z":3.6943238228559494E-4},{"x":0.1648460030555725,"y":0.13487400114536285,"z":3.3644624636508524E-4},{"x":0.17983201146125793,"y":0.13487400114536285,"z":2.940354170277715E-4},{"x":0.19481800496578217,"y":0.13487400114536285,"z":2.422000397928059E-4}],"locationInImageSpace":[{"x":92.16925048828125,"y":132.34136962890625},{"x":116.38815307617188,"y":132.87440490722656},{"x":139.32960510253906,"y":133.40184020996094},{"x":233.10292053222656,"y":136.30435180664062},{"x":256.159423828125,"y":136.53994750976562},{"x":279.56103515625,"y":136.58531188964844},{"x":348.7520751953125,"y":138.65322875976562},{"x":163.27078247070312,"y":157.74639892578125},{"x":233.128662109375,"y":159.31065368652344},{"x":256.844482421875,"y":160.58267211914062},{"x":279.8726806640625,"y":160.85733032226562},{"x":302.1810302734375,"y":161.11033630371094},{"x":325.41455078125,"y":161.65269470214844},{"x":348.94537353515625,"y":162.61195373535156},{"x":186.65133666992188,"y":181.86871337890625},{"x":210.22982788085938,"y":182.46987915039062},{"x":233.1372528076172,"y":182.8413848876953},{"x":256.3966979980469,"y":183.65855407714844},{"x":279.9217224121094,"y":184.1741180419922},{"x":302.5816345214844,"y":184.2021026611328},{"x":371.2071838378906,"y":185.8690185546875},{"x":93.87210845947266,"y":203.51333618164062},{"x":117.69197082519531,"y":203.90447998046875},{"x":187.1650390625,"y":205.2769317626953},{"x":210.3470458984375,"y":205.70310974121094},{"x":233.82090759277344,"y":206.13992309570312},{"x":256.5054931640625,"y":207.07748413085938},{"x":279.1058044433594,"y":207.49749755859375},{"x":71.0970230102539,"y":226.48947143554688},{"x":94.74791717529297,"y":226.61497497558594},{"x":117.76776123046875,"y":227.22816467285156},{"x":187.28977966308594,"y":228.54400634765625},{"x":210.91139221191406,"y":228.89756774902344},{"x":233.84890747070312,"y":229.39822387695312},{"x":256.4091491699219,"y":229.6898956298828},{"x":278.88470458984375,"y":229.8231658935547},{"x":72.03990173339844,"y":249.02455139160156},{"x":94.98592376708984,"y":249.8896026611328},{"x":118.16694641113281,"y":249.93443298339844},{"x":187.5561981201172,"y":251.69656372070312},{"x":210.78158569335938,"y":252.1160430908203},{"x":233.95980834960938,"y":252.18093872070312},{"x":256.42138671875,"y":252.5966033935547},{"x":279.7208557128906,"y":252.64666748046875},{"x":301.7708740234375,"y":253.13211059570312},{"x":72.81210327148438,"y":272.1460876464844},{"x":95.75228881835938,"y":272.7129821777344},{"x":118.94576263427734,"y":273.20440673828125},{"x":188.16810607910156,"y":274.6369934082031},{"x":210.92918395996094,"y":274.8359680175781},{"x":324.3714599609375,"y":276.50726318359375},{"x":73.28105163574219,"y":295.0622863769531},{"x":96.12850189208984,"y":295.364501953125},{"x":119.25672149658203,"y":295.8606262207031},{"x":187.9914093017578,"y":297.5162048339844},{"x":347.0565185546875,"y":299.7962341308594},{"x":369.48199462890625,"y":299.74761962890625},{"x":73.68346405029297,"y":317.82427978515625},{"x":96.4171142578125,"y":318.2009582519531},{"x":119.53612518310547,"y":318.63427734375},{"x":142.1589813232422,"y":318.6546936035156},{"x":165.04690551757812,"y":319.3206787109375},{"x":188.23057556152344,"y":319.3221740722656},{"x":256.62469482421875,"y":320.2873229980469},{"x":278.900634765625,"y":320.9577331542969},{"x":346.7079772949219,"y":321.9977111816406},{"x":369.1991271972656,"y":322.25396728515625},{"x":73.83533477783203,"y":340.57537841796875},{"x":96.84628295898438,"y":340.84088134765625},{"x":119.52674102783203,"y":340.9819641113281},{"x":142.43321228027344,"y":341.6053466796875},{"x":165.2109832763672,"y":341.4522705078125},{"x":188.48089599609375,"y":341.9859313964844},{"x":256.3414001464844,"y":342.8296813964844},{"x":279.0212097167969,"y":343.0784606933594},{"x":301.28131103515625,"y":343.40679931640625},{"x":323.841796875,"y":343.3553771972656},{"x":346.0107116699219,"y":343.921630859375},{"x":368.7806396484375,"y":344.2630615234375}],"reprojectionErrors":[{"x":-0.2320404052734375,"y":0.272308349609375},{"x":0.388580322265625,"y":0.337188720703125},{"x":0.1842193603515625,"y":-0.2395172119140625},{"x":0.312530517578125,"y":0.249481201171875},{"x":0.2795562744140625,"y":0.3234100341796875},{"x":-0.288055419921875,"y":-0.4097747802734375},{"x":0.230194091796875,"y":0.1156768798828125},{"x":-0.328887939453125,"y":-0.134124755859375},{"x":0.4516143798828125,"y":-0.1670379638671875},{"x":0.01609039306640625,"y":-0.0668487548828125},{"x":0.2827911376953125,"y":0.0191497802734375},{"x":0.2154693603515625,"y":0.074066162109375},{"x":-0.2068023681640625,"y":0.11590576171875},{"x":0.09881591796875,"y":-0.345428466796875},{"x":-0.149688720703125,"y":-0.0738525390625},{"x":0.205169677734375,"y":0.080078125},{"x":0.58538818359375,"y":0.3906097412109375},{"x":0.04291534423828125,"y":0.27154541015625},{"x":0.39946746826171875,"y":-0.1684417724609375},{"x":0.45011138916015625,"y":0.2103271484375},{"x":-0.187164306640625,"y":0.060791015625},{"x":-0.322113037109375,"y":0.424652099609375},{"x":0.3541259765625,"y":0.352142333984375},{"x":0.0892181396484375,"y":-0.12860107421875},{"x":-0.0609283447265625,"y":-0.39501953125},{"x":0.072601318359375,"y":-0.206878662109375},{"x":0.20770263671875,"y":0.046600341796875},{"x":-0.10083770751953125,"y":0.090667724609375},{"x":-0.209869384765625,"y":0.040740966796875},{"x":0.0023040771484375,"y":0.05572509765625},{"x":0.36028289794921875,"y":0.004119873046875},{"x":0.5942535400390625,"y":-0.138824462890625},{"x":0.2338409423828125,"y":0.18585205078125},{"x":-0.06109619140625,"y":0.201202392578125},{"x":0.244659423828125,"y":-0.14166259765625},{"x":-0.149200439453125,"y":-0.19647216796875},{"x":0.602691650390625,"y":-0.242767333984375},{"x":0.6485137939453125,"y":0.205322265625},{"x":0.1380157470703125,"y":-0.032470703125},{"x":0.229644775390625,"y":0.0391845703125},{"x":0.077850341796875,"y":0.391876220703125},{"x":0.264801025390625,"y":0.127838134765625},{"x":-0.200592041015625,"y":0.089599609375}],"optimisedCameraToObject":{"translation":{"x":-0.20233033601468153,"y":-0.12556130905541113,"z":0.43660623516007824},"rotation":{"quaternion":{"W":0.9986939545140938,"X":0.046910925263831275,"Y":-0.01861736055373552,"Z":0.007946332103845214}}},"cornersUsed":[false,true,true,true,false,false,false,true,true,true,false,false,true,false,false,false,false,false,true,false,false,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true,false,false,true,false,true,true,false,false,true,true,true,true,true,false,false,false,false,true,true,true,false,false,true,true,true,true,true,false,false,false,false,true,true,true,false,false,true,true,true,true,true,true,false,false,false,true,true,true,false,false,true,true,false,false,false,false,true,false,false,true,true,true,false,false,true,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,true,true,false,false,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true],"snapshotName":"img1.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/6194b9a1-d71c-4a88-9d65-79d4ce11b4d1/imgs/800x600/img1.png"},{"locationInObjectSpace":[{"x":0.0,"y":0.0,"z":0.0},{"x":0.014985999092459679,"y":0.0,"z":6.126001972006634E-5},{"x":0.029972000047564507,"y":0.0,"z":1.1309541878290474E-4},{"x":0.04495799541473389,"y":0.0,"z":1.555061899125576E-4},{"x":0.059943996369838715,"y":0.0,"z":1.8849235493689775E-4},{"x":0.11988799273967743,"y":0.0,"z":2.2619085211772472E-4},{"x":0.13487400114536285,"y":0.0,"z":2.120539138559252E-4},{"x":0.17983199656009674,"y":0.0,"z":1.1309543333481997E-4},{"x":0.0,"y":0.014986000023782253,"z":1.8094005645252764E-4},{"x":0.014985999092459679,"y":0.014986000023782253,"z":2.4220006889663637E-4},{"x":0.029972000047564507,"y":0.014986000023782253,"z":2.940354752354324E-4},{"x":0.04495799541473389,"y":0.014986000023782253,"z":3.3644624636508524E-4},{"x":0.059943996369838715,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.07492999732494354,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.11988799273967743,"y":0.014986000023782253,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.17983199656009674,"y":0.014986000023782253,"z":2.940354752354324E-4},{"x":0.0,"y":0.029971998184919357,"z":3.216711920686066E-4},{"x":0.014985999092459679,"y":0.029971998184919357,"z":3.8293120451271534E-4},{"x":0.029972000047564507,"y":0.029971998184919357,"z":4.3476661085151136E-4},{"x":0.04495799541473389,"y":0.029971998184919357,"z":4.771773819811642E-4},{"x":0.059943996369838715,"y":0.029971998184919357,"z":5.101635470055044E-4},{"x":0.07492999732494354,"y":0.029971998184919357,"z":5.337250768207014E-4},{"x":0.08991599828004837,"y":0.029971998184919357,"z":5.478620296344161E-4},{"x":0.1049019992351532,"y":0.029971998184919357,"z":5.525743472389877E-4},{"x":0.11988799273967743,"y":0.029971998184919357,"z":5.478620296344161E-4},{"x":0.13487400114536285,"y":0.029971998184919357,"z":5.337250768207014E-4},{"x":0.14985999464988708,"y":0.029971998184919357,"z":5.101635470055044E-4},{"x":0.1648460030555725,"y":0.029971998184919357,"z":4.771773819811642E-4},{"x":0.17983199656009674,"y":0.029971998184919357,"z":4.3476661085151136E-4},{"x":0.0,"y":0.044957999140024185,"z":4.221934359520674E-4},{"x":0.04495799541473389,"y":0.044957999140024185,"z":5.77699625864625E-4},{"x":0.059943996369838715,"y":0.044957999140024185,"z":6.106857908889651E-4},{"x":0.07492999732494354,"y":0.044957999140024185,"z":6.34247378911823E-4},{"x":0.08991599828004837,"y":0.044957999140024185,"z":6.483842735178769E-4},{"x":0.1049019992351532,"y":0.044957999140024185,"z":6.530965911224484E-4},{"x":0.11988799273967743,"y":0.044957999140024185,"z":6.483842735178769E-4},{"x":0.1648460030555725,"y":0.044957999140024185,"z":5.77699625864625E-4},{"x":0.17983199656009674,"y":0.044957999140024185,"z":5.352888838388026E-4},{"x":0.0,"y":0.059943996369838715,"z":4.825067881029099E-4},{"x":0.04495799541473389,"y":0.059943996369838715,"z":6.38013007119298E-4},{"x":0.059943996369838715,"y":0.059943996369838715,"z":6.709991721436381E-4},{"x":0.07492999732494354,"y":0.059943996369838715,"z":6.945607019588351E-4},{"x":0.08991599828004837,"y":0.059943996369838715,"z":7.086976547725499E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":7.134099723771214E-4},{"x":0.11988799273967743,"y":0.059943996369838715,"z":7.086976547725499E-4},{"x":0.1648460030555725,"y":0.059943996369838715,"z":6.38013007119298E-4},{"x":0.17983199656009674,"y":0.059943996369838715,"z":5.956022068858147E-4},{"x":0.0,"y":0.07492999732494354,"z":5.026112776249647E-4},{"x":0.014985999092459679,"y":0.07492999732494354,"z":5.638712900690734E-4},{"x":0.029972000047564507,"y":0.07492999732494354,"z":6.15706667304039E-4},{"x":0.04495799541473389,"y":0.07492999732494354,"z":6.581174675375223E-4},{"x":0.059943996369838715,"y":0.07492999732494354,"z":6.911036325618625E-4},{"x":0.07492999732494354,"y":0.07492999732494354,"z":7.146651623770595E-4},{"x":0.08991599828004837,"y":0.07492999732494354,"z":7.288021151907742E-4},{"x":0.13487400114536285,"y":0.07492999732494354,"z":7.146651623770595E-4},{"x":0.14985999464988708,"y":0.07492999732494354,"z":6.911036325618625E-4},{"x":0.1648460030555725,"y":0.07492999732494354,"z":6.581174675375223E-4},{"x":0.17983199656009674,"y":0.07492999732494354,"z":6.15706667304039E-4},{"x":0.0,"y":0.08991599828004837,"z":4.825068172067404E-4},{"x":0.014985999092459679,"y":0.08991599828004837,"z":5.437668296508491E-4},{"x":0.029972000047564507,"y":0.08991599828004837,"z":5.956022068858147E-4},{"x":0.04495799541473389,"y":0.08991599828004837,"z":6.38013007119298E-4},{"x":0.059943996369838715,"y":0.08991599828004837,"z":6.709991721436381E-4},{"x":0.07492999732494354,"y":0.08991599828004837,"z":6.945607019588351E-4},{"x":0.08991599828004837,"y":0.08991599828004837,"z":7.086976547725499E-4},{"x":0.13487400114536285,"y":0.08991599828004837,"z":6.945607019588351E-4},{"x":0.14985999464988708,"y":0.08991599828004837,"z":6.709991721436381E-4},{"x":0.1648460030555725,"y":0.08991599828004837,"z":6.38013007119298E-4},{"x":0.17983199656009674,"y":0.08991599828004837,"z":5.956022650934756E-4},{"x":0.0,"y":0.1049019992351532,"z":4.2219346505589783E-4},{"x":0.04495799541473389,"y":0.1049019992351532,"z":5.77699625864625E-4},{"x":0.059943996369838715,"y":0.1049019992351532,"z":6.10685849096626E-4},{"x":0.07492999732494354,"y":0.1049019992351532,"z":6.34247378911823E-4},{"x":0.08991599828004837,"y":0.1049019992351532,"z":6.483842735178769E-4},{"x":0.1049019992351532,"y":0.1049019992351532,"z":6.530965911224484E-4},{"x":0.11988799273967743,"y":0.1049019992351532,"z":6.483843317255378E-4},{"x":0.1648460030555725,"y":0.1049019992351532,"z":5.776996840722859E-4},{"x":0.17983199656009674,"y":0.1049019992351532,"z":5.352888838388026E-4},{"x":0.0,"y":0.11988800019025803,"z":3.216711920686066E-4},{"x":0.04495799541473389,"y":0.11988800019025803,"z":4.771773819811642E-4},{"x":0.08991599828004837,"y":0.11988800019025803,"z":5.478620296344161E-4},{"x":0.1049019992351532,"y":0.11988800019025803,"z":5.525743472389877E-4},{"x":0.11988799273967743,"y":0.11988800019025803,"z":5.478620296344161E-4},{"x":0.1648460030555725,"y":0.11988800019025803,"z":4.771774110849947E-4},{"x":0.17983199656009674,"y":0.11988800019025803,"z":4.347666399553418E-4},{"x":0.0,"y":0.13487400114536285,"z":1.8094004190061241E-4},{"x":0.04495799541473389,"y":0.13487400114536285,"z":3.3644624636508524E-4},{"x":0.08991599828004837,"y":0.13487400114536285,"z":4.0713089401833713E-4},{"x":0.1049019992351532,"y":0.13487400114536285,"z":4.1184318251907825E-4},{"x":0.11988799273967743,"y":0.13487400114536285,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.13487400114536285,"z":3.929939412046224E-4},{"x":0.14985999464988708,"y":0.13487400114536285,"z":3.694324113894254E-4},{"x":0.1648460030555725,"y":0.13487400114536285,"z":3.3644624636508524E-4},{"x":0.17983199656009674,"y":0.13487400114536285,"z":2.940354752354324E-4}],"locationInImageSpace":[{"x":40.860164642333984,"y":240.61508178710938},{"x":65.26549530029297,"y":240.93055725097656},{"x":89.72608184814453,"y":241.59532165527344},{"x":114.23683166503906,"y":241.99423217773438},{"x":138.56393432617188,"y":242.64427185058594},{"x":235.3028564453125,"y":244.1624298095703},{"x":259.4996643066406,"y":244.84933471679688},{"x":331.1995544433594,"y":245.32296752929688},{"x":40.191162109375,"y":264.6704406738281},{"x":65.06533813476562,"y":265.26300048828125},{"x":89.58493041992188,"y":265.7082214355469},{"x":114.10108947753906,"y":266.23907470703125},{"x":138.51278686523438,"y":266.393798828125},{"x":162.8872528076172,"y":267.04193115234375},{"x":235.4484100341797,"y":267.9918518066406},{"x":259.33428955078125,"y":268.5445861816406},{"x":331.05816650390625,"y":269.6098937988281},{"x":39.992130279541016,"y":288.6794738769531},{"x":64.7001953125,"y":289.3464660644531},{"x":89.14419555664062,"y":289.7574462890625},{"x":113.79502868652344,"y":290.20172119140625},{"x":137.92478942871094,"y":290.3160705566406},{"x":162.44073486328125,"y":290.9782409667969},{"x":186.8435821533203,"y":291.299560546875},{"x":211.0064239501953,"y":291.6758728027344},{"x":235.1025848388672,"y":292.0667724609375},{"x":259.3625183105469,"y":292.39849853515625},{"x":282.9340515136719,"y":292.8141174316406},{"x":307.2032775878906,"y":292.89129638671875},{"x":330.8769226074219,"y":293.5218200683594},{"x":39.92045593261719,"y":312.9721374511719},{"x":113.26009368896484,"y":314.04669189453125},{"x":137.69842529296875,"y":314.59832763671875},{"x":162.03192138671875,"y":314.962646484375},{"x":186.4249725341797,"y":315.439453125},{"x":210.3301239013672,"y":315.4114990234375},{"x":234.9250946044922,"y":315.9640197753906},{"x":306.76910400390625,"y":316.9085998535156},{"x":330.4875793457031,"y":317.2247009277344},{"x":39.20351028442383,"y":337.52484130859375},{"x":112.67475891113281,"y":338.36907958984375},{"x":137.1775665283203,"y":338.5509948730469},{"x":161.58673095703125,"y":338.9659118652344},{"x":186.09976196289062,"y":339.17529296875},{"x":210.23635864257812,"y":339.4396667480469},{"x":234.49464416503906,"y":340.0693664550781},{"x":306.05523681640625,"y":340.69488525390625},{"x":329.9637451171875,"y":341.0210876464844},{"x":38.208614349365234,"y":361.8284912109375},{"x":63.375030517578125,"y":361.6590270996094},{"x":87.5506362915039,"y":362.15228271484375},{"x":112.26647186279297,"y":362.3553466796875},{"x":136.9213104248047,"y":362.79736328125},{"x":161.1841278076172,"y":362.8733215332031},{"x":185.6620635986328,"y":363.2158203125},{"x":258.0257568359375,"y":363.98822021484375},{"x":281.93878173828125,"y":364.2528991699219},{"x":305.8335876464844,"y":364.6295471191406},{"x":330.1650695800781,"y":364.2903747558594},{"x":38.29868698120117,"y":385.8368225097656},{"x":62.67500686645508,"y":386.2110900878906},{"x":87.36825561523438,"y":386.1158752441406},{"x":112.09912109375,"y":386.5313720703125},{"x":136.35035705566406,"y":386.81341552734375},{"x":160.75978088378906,"y":387.0038757324219},{"x":185.38455200195312,"y":387.2569274902344},{"x":258.26861572265625,"y":387.8923034667969},{"x":281.7603454589844,"y":388.4705505371094},{"x":305.9115295410156,"y":388.4767761230469},{"x":329.7130432128906,"y":388.6978759765625},{"x":37.83572006225586,"y":410.1441345214844},{"x":111.29777526855469,"y":410.3522033691406},{"x":136.0763397216797,"y":410.74896240234375},{"x":160.06178283691406,"y":410.7088928222656},{"x":184.627685546875,"y":411.0987243652344},{"x":208.98243713378906,"y":411.2756042480469},{"x":233.43856811523438,"y":411.5843200683594},{"x":305.2063903808594,"y":412.0709228515625},{"x":329.2082214355469,"y":412.63507080078125},{"x":37.33274841308594,"y":434.08795166015625},{"x":110.91339874267578,"y":435.05706787109375},{"x":184.2323455810547,"y":435.1069030761719},{"x":208.4717254638672,"y":435.10443115234375},{"x":232.50848388671875,"y":435.25994873046875},{"x":304.92230224609375,"y":436.1327819824219},{"x":328.16778564453125,"y":436.1791687011719},{"x":36.64876174926758,"y":458.8143310546875},{"x":110.17359924316406,"y":458.973876953125},{"x":183.8807373046875,"y":459.25518798828125},{"x":207.9803924560547,"y":459.2390441894531},{"x":232.31283569335938,"y":459.68109130859375},{"x":256.312744140625,"y":459.6983642578125},{"x":280.3111572265625,"y":459.95843505859375},{"x":303.9559020996094,"y":459.7483215332031},{"x":328.28643798828125,"y":460.21258544921875}],"reprojectionErrors":[{"x":0.2314605712890625,"y":0.1698455810546875},{"x":0.348175048828125,"y":-0.0260009765625},{"x":0.32813262939453125,"y":0.0403900146484375},{"x":0.4072113037109375,"y":-0.1479034423828125},{"x":0.4878692626953125,"y":0.1461944580078125},{"x":0.11215972900390625,"y":-0.03070068359375},{"x":0.16985321044921875,"y":-0.046966552734375},{"x":0.0879974365234375,"y":-0.111328125},{"x":0.15020751953125,"y":0.039154052734375},{"x":0.03790283203125,"y":0.1856689453125},{"x":0.1700592041015625,"y":0.28802490234375},{"x":0.13033294677734375,"y":0.012359619140625},{"x":0.26598358154296875,"y":-0.00958251953125},{"x":0.10817718505859375,"y":-0.067138671875},{"x":0.0394439697265625,"y":-0.018035888671875},{"x":0.0434722900390625,"y":-0.016357421875},{"x":0.164703369140625,"y":-0.0330810546875},{"x":-0.102935791015625,"y":-0.003173828125},{"x":-0.13764190673828125,"y":0.1639404296875},{"x":0.27797698974609375,"y":0.13677978515625},{"x":0.2527923583984375,"y":-0.068939208984375},{"x":0.2498626708984375,"y":-0.0888671875},{"x":0.1068267822265625,"y":-0.222808837890625},{"x":0.37310791015625,"y":0.146514892578125},{"x":-0.127044677734375,"y":-0.06610107421875},{"x":-0.126983642578125,"y":5.4931640625E-4},{"x":-0.037933349609375,"y":0.018829345703125},{"x":0.1697845458984375,"y":-0.2117919921875},{"x":0.475189208984375,"y":-0.128326416015625},{"x":0.392547607421875,"y":-0.002899169921875},{"x":0.0648345947265625,"y":-0.01513671875},{"x":0.2535400390625,"y":-0.018951416015625},{"x":0.159210205078125,"y":-0.044281005859375},{"x":0.7248764038085938,"y":-0.323150634765625},{"x":0.24837112426757812,"y":0.11590576171875},{"x":0.6738204956054688,"y":-0.1080322265625},{"x":0.4722442626953125,"y":-0.04205322265625},{"x":0.119232177734375,"y":-0.096923828125},{"x":0.089752197265625,"y":-0.065521240234375},{"x":0.137176513671875,"y":-0.171722412109375},{"x":0.4901580810546875,"y":-0.26220703125},{"x":0.409881591796875,"y":0.062347412109375},{"x":0.20510101318359375,"y":-0.1234130859375},{"x":0.3951568603515625,"y":-0.175323486328125},{"x":0.3442535400390625,"y":-0.135223388671875},{"x":-0.0027618408203125,"y":-0.15728759765625},{"x":-0.283538818359375,"y":-0.215240478515625},{"x":-0.250885009765625,"y":-0.202484130859375},{"x":0.5485458374023438,"y":0.179443359375},{"x":0.2253875732421875,"y":-0.025848388671875},{"x":0.6124725341796875,"y":0.20672607421875},{"x":0.3382415771484375,"y":0.010528564453125},{"x":0.1962890625,"y":0.028350830078125},{"x":-0.1239471435546875,"y":-0.084564208984375},{"x":0.07391357421875,"y":0.022918701171875},{"x":0.4514312744140625,"y":-0.365753173828125},{"x":0.30120849609375,"y":0.047637939453125},{"x":0.2907867431640625,"y":0.2080078125},{"x":0.4059600830078125,"y":0.212127685546875},{"x":0.623046875,"y":-0.05108642578125},{"x":0.21922683715820312,"y":-0.247314453125},{"x":0.6859817504882812,"y":-0.0799560546875},{"x":0.20379638671875,"y":-0.0126953125},{"x":0.351593017578125,"y":0.124420166015625},{"x":0.1894378662109375,"y":-0.19427490234375},{"x":0.284698486328125,"y":-0.085784912109375},{"x":0.164520263671875,"y":-0.208465576171875}],"optimisedCameraToObject":{"translation":{"x":-0.21257434989711713,"y":-0.053766866461640875,"z":0.42125361618587537},"rotation":{"quaternion":{"W":0.9997276996321256,"X":-0.005575428531928316,"Y":-0.021667582124499762,"Z":0.006630012807064585}}},"cornersUsed":[false,true,true,true,true,true,false,false,false,true,true,false,false,true,false,true,true,true,true,true,true,false,false,true,true,false,false,true,false,true,true,true,true,true,true,true,true,true,true,true,true,true,false,true,false,false,true,true,true,true,true,true,false,false,true,true,false,true,false,false,true,true,true,true,true,true,false,false,true,true,false,true,true,true,true,true,true,true,false,false,true,true,true,true,false,true,true,true,true,true,true,true,false,false,true,true,true,true,false,true,false,false,true,true,true,true,true,true,false,false,true,true,false,true,false,false,true,false,false,true,true,true,false,false,true,true,false,true,false,false,true,false,false,true,true,true,true,true,true,true],"snapshotName":"img2.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/6194b9a1-d71c-4a88-9d65-79d4ce11b4d1/imgs/800x600/img2.png"},{"locationInObjectSpace":[{"x":0.08991599828004837,"y":0.0,"z":2.261908375658095E-4},{"x":0.1049019992351532,"y":0.0,"z":2.3090315517038107E-4},{"x":0.14986000955104828,"y":0.0,"z":1.8849235493689775E-4},{"x":0.1648460030555725,"y":0.0,"z":1.555061899125576E-4},{"x":0.17983201146125793,"y":0.0,"z":1.1309538240311667E-4},{"x":0.044957999140024185,"y":0.014986000023782253,"z":3.3644624636508524E-4},{"x":0.059943996369838715,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.07492999732494354,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.11988800019025803,"y":0.014986000023782253,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.14986000955104828,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.1648460030555725,"y":0.014986000023782253,"z":3.3644624636508524E-4},{"x":0.029971998184919357,"y":0.029971998184919357,"z":4.3476661085151136E-4},{"x":0.044957999140024185,"y":0.029971998184919357,"z":4.771773819811642E-4},{"x":0.059943996369838715,"y":0.029971998184919357,"z":5.101635470055044E-4},{"x":0.07492999732494354,"y":0.029971998184919357,"z":5.337250768207014E-4},{"x":0.11988800019025803,"y":0.029971998184919357,"z":5.478620296344161E-4},{"x":0.0,"y":0.044957999140024185,"z":4.221934359520674E-4},{"x":0.014986000023782253,"y":0.044957999140024185,"z":4.8345347750000656E-4},{"x":0.08991599828004837,"y":0.044957999140024185,"z":6.483842735178769E-4},{"x":0.1049019992351532,"y":0.044957999140024185,"z":6.530965911224484E-4},{"x":0.11988800019025803,"y":0.044957999140024185,"z":6.483842735178769E-4},{"x":0.0,"y":0.059943996369838715,"z":4.825067881029099E-4},{"x":0.014986000023782253,"y":0.059943996369838715,"z":5.437668296508491E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":7.134099723771214E-4},{"x":0.11988800019025803,"y":0.059943996369838715,"z":7.086976547725499E-4},{"x":0.13487400114536285,"y":0.059943996369838715,"z":6.945607019588351E-4},{"x":0.0,"y":0.07492999732494354,"z":5.026112776249647E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":5.638712900690734E-4},{"x":0.029971998184919357,"y":0.07492999732494354,"z":6.15706667304039E-4},{"x":0.044957999140024185,"y":0.07492999732494354,"z":6.581174675375223E-4},{"x":0.1049019992351532,"y":0.07492999732494354,"z":7.335144327953458E-4},{"x":0.11988800019025803,"y":0.07492999732494354,"z":7.288021151907742E-4},{"x":0.13487400114536285,"y":0.07492999732494354,"z":7.146651623770595E-4},{"x":0.0,"y":0.08991599828004837,"z":4.825068172067404E-4},{"x":0.014986000023782253,"y":0.08991599828004837,"z":5.437668296508491E-4},{"x":0.029971998184919357,"y":0.08991599828004837,"z":5.956022068858147E-4},{"x":0.044957999140024185,"y":0.08991599828004837,"z":6.38013007119298E-4},{"x":0.08991599828004837,"y":0.08991599828004837,"z":7.086976547725499E-4},{"x":0.1049019992351532,"y":0.08991599828004837,"z":7.134099723771214E-4},{"x":0.11988800019025803,"y":0.08991599828004837,"z":7.086976547725499E-4},{"x":0.13487400114536285,"y":0.08991599828004837,"z":6.945607019588351E-4},{"x":0.0,"y":0.1049019992351532,"z":4.2219346505589783E-4},{"x":0.014986000023782253,"y":0.1049019992351532,"z":4.8345347750000656E-4},{"x":0.059943996369838715,"y":0.1049019992351532,"z":6.10685849096626E-4},{"x":0.07492999732494354,"y":0.1049019992351532,"z":6.34247378911823E-4},{"x":0.08991599828004837,"y":0.1049019992351532,"z":6.483842735178769E-4},{"x":0.1049019992351532,"y":0.1049019992351532,"z":6.530965911224484E-4},{"x":0.11988800019025803,"y":0.1049019992351532,"z":6.483842735178769E-4},{"x":0.13487400114536285,"y":0.1049019992351532,"z":6.34247378911823E-4},{"x":0.14986000955104828,"y":0.1049019992351532,"z":6.106857908889651E-4},{"x":0.1648460030555725,"y":0.1049019992351532,"z":5.776996840722859E-4},{"x":0.17983201146125793,"y":0.1049019992351532,"z":5.352888256311417E-4},{"x":0.014986000023782253,"y":0.11988800019025803,"z":3.829312336165458E-4},{"x":0.059943996369838715,"y":0.11988800019025803,"z":5.101635470055044E-4},{"x":0.07492999732494354,"y":0.11988800019025803,"z":5.337251350283623E-4},{"x":0.08991599828004837,"y":0.11988800019025803,"z":5.478620296344161E-4},{"x":0.1049019992351532,"y":0.11988800019025803,"z":5.525743472389877E-4},{"x":0.11988800019025803,"y":0.11988800019025803,"z":5.478620296344161E-4},{"x":0.13487400114536285,"y":0.11988800019025803,"z":5.337251350283623E-4},{"x":0.14986000955104828,"y":0.11988800019025803,"z":5.101635470055044E-4},{"x":0.1648460030555725,"y":0.11988800019025803,"z":4.771774110849947E-4},{"x":0.17983201146125793,"y":0.11988800019025803,"z":4.347665817476809E-4},{"x":0.19481800496578217,"y":0.11988800019025803,"z":3.8293120451271534E-4},{"x":0.029971998184919357,"y":0.13487400114536285,"z":2.9403544613160193E-4},{"x":0.044957999140024185,"y":0.13487400114536285,"z":3.3644624636508524E-4},{"x":0.059943996369838715,"y":0.13487400114536285,"z":3.694324113894254E-4},{"x":0.07492999732494354,"y":0.13487400114536285,"z":3.929939412046224E-4},{"x":0.08991599828004837,"y":0.13487400114536285,"z":4.0713089401833713E-4},{"x":0.1049019992351532,"y":0.13487400114536285,"z":4.1184318251907825E-4},{"x":0.11988800019025803,"y":0.13487400114536285,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.13487400114536285,"z":3.929939412046224E-4},{"x":0.17983201146125793,"y":0.13487400114536285,"z":2.940354170277715E-4},{"x":0.19481800496578217,"y":0.13487400114536285,"z":2.422000397928059E-4}],"locationInImageSpace":[{"x":331.18145751953125,"y":239.7731475830078},{"x":355.8914489746094,"y":241.5977325439453},{"x":428.6521911621094,"y":244.15341186523438},{"x":452.514404296875,"y":244.9586944580078},{"x":477.283935546875,"y":246.43234252929688},{"x":258.0762939453125,"y":260.1264953613281},{"x":281.6407470703125,"y":261.2951354980469},{"x":305.8601379394531,"y":262.7061462402344},{"x":378.46258544921875,"y":266.43170166015625},{"x":403.28997802734375,"y":267.404052734375},{"x":427.30560302734375,"y":269.2740173339844},{"x":451.5078430175781,"y":269.712646484375},{"x":232.0223388671875,"y":283.553955078125},{"x":256.6640625,"y":285.0717468261719},{"x":280.23797607421875,"y":285.99072265625},{"x":304.65692138671875,"y":287.0651550292969},{"x":377.360595703125,"y":291.1203308105469},{"x":182.5541229248047,"y":305.6922607421875},{"x":206.52239990234375,"y":306.60418701171875},{"x":327.60357666015625,"y":312.2492980957031},{"x":351.7028503417969,"y":314.1681213378906},{"x":375.9628601074219,"y":314.88702392578125},{"x":181.13906860351562,"y":329.8224182128906},{"x":205.3709259033203,"y":330.9915466308594},{"x":350.78759765625,"y":338.0057373046875},{"x":375.20867919921875,"y":339.4158935546875},{"x":399.15924072265625,"y":340.3275451660156},{"x":180.13340759277344,"y":353.83746337890625},{"x":204.3680877685547,"y":354.8192443847656},{"x":228.50323486328125,"y":356.0834045410156},{"x":252.7992706298828,"y":356.9901123046875},{"x":349.0260925292969,"y":362.4270324707031},{"x":373.6706848144531,"y":363.27667236328125},{"x":397.774169921875,"y":364.640380859375},{"x":178.6226806640625,"y":377.95941162109375},{"x":202.81715393066406,"y":379.22698974609375},{"x":227.46566772460938,"y":380.3206481933594},{"x":251.62368774414062,"y":381.66668701171875},{"x":323.7273254394531,"y":385.7930908203125},{"x":348.1538391113281,"y":386.3959045410156},{"x":372.1518859863281,"y":387.96856689453125},{"x":396.488037109375,"y":388.468017578125},{"x":177.46804809570312,"y":402.21392822265625},{"x":202.05642700195312,"y":403.4940490722656},{"x":274.7257385253906,"y":407.1401062011719},{"x":298.7641296386719,"y":408.15985107421875},{"x":323.1004943847656,"y":409.8443298339844},{"x":346.9970703125,"y":410.9515075683594},{"x":371.0583190917969,"y":411.2687072753906},{"x":395.9806213378906,"y":412.7994689941406},{"x":419.7099914550781,"y":414.0472717285156},{"x":444.0267028808594,"y":415.17315673828125},{"x":468.4631652832031,"y":416.8955078125},{"x":200.2347412109375,"y":427.26849365234375},{"x":273.6872863769531,"y":431.09375},{"x":297.59539794921875,"y":432.6081848144531},{"x":321.44927978515625,"y":434.0639953613281},{"x":345.4810791015625,"y":434.3681335449219},{"x":369.9918518066406,"y":435.92095947265625},{"x":394.4222106933594,"y":436.935302734375},{"x":418.08355712890625,"y":438.71478271484375},{"x":442.7409973144531,"y":439.708251953125},{"x":467.1417236328125,"y":441.1816101074219},{"x":491.119384765625,"y":442.2578430175781},{"x":223.26785278320312,"y":452.8515625},{"x":247.7578125,"y":454.3608703613281},{"x":271.80560302734375,"y":455.58074951171875},{"x":296.1176452636719,"y":456.62432861328125},{"x":320.20379638671875,"y":457.49407958984375},{"x":344.7996826171875,"y":459.18804931640625},{"x":369.0564270019531,"y":460.2683410644531},{"x":393.37139892578125,"y":461.6727600097656},{"x":465.6211242675781,"y":464.963134765625},{"x":490.1759033203125,"y":466.9648742675781}],"reprojectionErrors":[{"x":0.064300537109375,"y":0.345306396484375},{"x":0.053009033203125,"y":0.136871337890625},{"x":-0.267730712890625,"y":-0.43353271484375},{"x":-0.216705322265625,"y":0.3248291015625},{"x":0.13446044921875,"y":-0.078094482421875},{"x":0.075592041015625,"y":-0.41058349609375},{"x":0.297576904296875,"y":-0.115234375},{"x":0.153289794921875,"y":0.272064208984375},{"x":0.340240478515625,"y":-0.33837890625},{"x":0.29193115234375,"y":-0.300384521484375},{"x":-0.032745361328125,"y":-0.0654296875},{"x":-0.2581787109375,"y":-0.26556396484375},{"x":0.040130615234375,"y":0.30908203125},{"x":0.527984619140625,"y":-0.283905029296875},{"x":0.074462890625,"y":0.08026123046875},{"x":0.170257568359375,"y":-0.068389892578125},{"x":0.0062103271484375,"y":-0.04132080078125},{"x":0.444183349609375,"y":-0.15887451171875},{"x":0.03314208984375,"y":-0.231658935546875},{"x":0.273040771484375,"y":0.500030517578125},{"x":-0.452239990234375,"y":0.19329833984375},{"x":0.025177001953125,"y":0.1719970703125},{"x":0.297088623046875,"y":-0.524871826171875},{"x":0.449981689453125,"y":0.3939208984375},{"x":0.11358642578125,"y":-0.095611572265625},{"x":0.5326080322265625,"y":0.042510986328125},{"x":0.222442626953125,"y":-0.25286865234375},{"x":-0.145233154296875,"y":-0.043304443359375},{"x":-0.256195068359375,"y":-0.214263916015625},{"x":0.171051025390625,"y":0.21746826171875},{"x":-0.13092041015625,"y":-0.53607177734375}],"optimisedCameraToObject":{"translation":{"x":-0.12206098126732369,"y":-0.058547942333855026,"z":0.41958664045109806},"rotation":{"quaternion":{"W":0.9996853163758525,"X":0.0018145851117915065,"Y":0.002193569999724121,"Z":0.024923156983819347}}},"cornersUsed":[false,false,false,false,false,false,true,true,false,false,true,true,true,false,false,false,false,true,true,true,false,false,true,true,true,true,false,false,false,false,true,true,true,true,false,false,true,false,false,false,false,false,true,true,false,false,false,false,true,true,true,false,false,false,false,false,true,true,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,true,false,false,false,true,true,true,false,false,false,false,true,true,true,true,false,false,true,true,true,true,false,false,false,false,true,true,false,false,true,true,true,true,true,true,true,true,true,false,false,true,false,false,true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,false,false,true,true],"snapshotName":"img3.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/6194b9a1-d71c-4a88-9d65-79d4ce11b4d1/imgs/800x600/img3.png"},{"locationInObjectSpace":[{"x":0.059943996369838715,"y":0.0,"z":1.8849235493689775E-4},{"x":0.07492999732494354,"y":0.0,"z":2.120539138559252E-4},{"x":0.08991599828004837,"y":0.0,"z":2.261908375658095E-4},{"x":0.1049019992351532,"y":0.0,"z":2.3090315517038107E-4},{"x":0.11988800019025803,"y":0.0,"z":2.261908375658095E-4},{"x":0.13487400114536285,"y":0.0,"z":2.120539138559252E-4},{"x":0.14986000955104828,"y":0.0,"z":1.8849235493689775E-4},{"x":0.1648460030555725,"y":0.0,"z":1.555061899125576E-4},{"x":0.17983201146125793,"y":0.0,"z":1.1309538240311667E-4},{"x":0.19481800496578217,"y":0.0,"z":6.12599978921935E-5},{"x":0.0,"y":0.014986000023782253,"z":1.8094005645252764E-4},{"x":0.044957999140024185,"y":0.014986000023782253,"z":3.3644624636508524E-4},{"x":0.059943996369838715,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.07492999732494354,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.08991599828004837,"y":0.014986000023782253,"z":4.0713089401833713E-4},{"x":0.1049019992351532,"y":0.014986000023782253,"z":4.118432116229087E-4},{"x":0.11988800019025803,"y":0.014986000023782253,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.14986000955104828,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.1648460030555725,"y":0.014986000023782253,"z":3.3644624636508524E-4},{"x":0.17983201146125793,"y":0.014986000023782253,"z":2.9403544613160193E-4},{"x":0.19481800496578217,"y":0.014986000023782253,"z":2.4220005434472114E-4},{"x":0.0,"y":0.029971998184919357,"z":3.216711920686066E-4},{"x":0.014986000023782253,"y":0.029971998184919357,"z":3.8293120451271534E-4},{"x":0.029971998184919357,"y":0.029971998184919357,"z":4.3476661085151136E-4},{"x":0.044957999140024185,"y":0.029971998184919357,"z":4.771773819811642E-4},{"x":0.059943996369838715,"y":0.029971998184919357,"z":5.101635470055044E-4},{"x":0.07492999732494354,"y":0.029971998184919357,"z":5.337250768207014E-4},{"x":0.08991599828004837,"y":0.029971998184919357,"z":5.478620296344161E-4},{"x":0.1049019992351532,"y":0.029971998184919357,"z":5.525743472389877E-4},{"x":0.11988800019025803,"y":0.029971998184919357,"z":5.478620296344161E-4},{"x":0.1648460030555725,"y":0.029971998184919357,"z":4.771773819811642E-4},{"x":0.17983201146125793,"y":0.029971998184919357,"z":4.347665817476809E-4},{"x":0.19481800496578217,"y":0.029971998184919357,"z":3.8293120451271534E-4},{"x":0.0,"y":0.044957999140024185,"z":4.221934359520674E-4},{"x":0.014986000023782253,"y":0.044957999140024185,"z":4.8345347750000656E-4},{"x":0.029971998184919357,"y":0.044957999140024185,"z":5.352888838388026E-4},{"x":0.044957999140024185,"y":0.044957999140024185,"z":5.77699625864625E-4},{"x":0.08991599828004837,"y":0.044957999140024185,"z":6.483842735178769E-4},{"x":0.1049019992351532,"y":0.044957999140024185,"z":6.530965911224484E-4},{"x":0.11988800019025803,"y":0.044957999140024185,"z":6.483842735178769E-4},{"x":0.1648460030555725,"y":0.044957999140024185,"z":5.77699625864625E-4},{"x":0.0,"y":0.059943996369838715,"z":4.825067881029099E-4},{"x":0.014986000023782253,"y":0.059943996369838715,"z":5.437668296508491E-4},{"x":0.029971998184919357,"y":0.059943996369838715,"z":5.956022068858147E-4},{"x":0.08991599828004837,"y":0.059943996369838715,"z":7.086976547725499E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":7.134099723771214E-4},{"x":0.11988800019025803,"y":0.059943996369838715,"z":7.086976547725499E-4},{"x":0.13487400114536285,"y":0.059943996369838715,"z":6.945607019588351E-4},{"x":0.14986000955104828,"y":0.059943996369838715,"z":6.709991721436381E-4},{"x":0.1648460030555725,"y":0.059943996369838715,"z":6.38013007119298E-4},{"x":0.0,"y":0.07492999732494354,"z":5.026112776249647E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":5.638712900690734E-4},{"x":0.029971998184919357,"y":0.07492999732494354,"z":6.15706667304039E-4},{"x":0.07492999732494354,"y":0.07492999732494354,"z":7.146651623770595E-4},{"x":0.08991599828004837,"y":0.07492999732494354,"z":7.288021151907742E-4},{"x":0.1049019992351532,"y":0.07492999732494354,"z":7.335144327953458E-4},{"x":0.11988800019025803,"y":0.07492999732494354,"z":7.288021151907742E-4},{"x":0.13487400114536285,"y":0.07492999732494354,"z":7.146651623770595E-4},{"x":0.14986000955104828,"y":0.07492999732494354,"z":6.911036325618625E-4},{"x":0.1648460030555725,"y":0.07492999732494354,"z":6.581174675375223E-4},{"x":0.17983201146125793,"y":0.07492999732494354,"z":6.15706667304039E-4},{"x":0.19481800496578217,"y":0.07492999732494354,"z":5.638712318614125E-4},{"x":0.0,"y":0.08991599828004837,"z":4.825068172067404E-4},{"x":0.014986000023782253,"y":0.08991599828004837,"z":5.437668296508491E-4},{"x":0.029971998184919357,"y":0.08991599828004837,"z":5.956022068858147E-4},{"x":0.044957999140024185,"y":0.08991599828004837,"z":6.38013007119298E-4},{"x":0.059943996369838715,"y":0.08991599828004837,"z":6.709991721436381E-4},{"x":0.07492999732494354,"y":0.08991599828004837,"z":6.945607019588351E-4},{"x":0.08991599828004837,"y":0.08991599828004837,"z":7.086976547725499E-4},{"x":0.1049019992351532,"y":0.08991599828004837,"z":7.134099723771214E-4},{"x":0.11988800019025803,"y":0.08991599828004837,"z":7.086976547725499E-4},{"x":0.13487400114536285,"y":0.08991599828004837,"z":6.945607019588351E-4},{"x":0.14986000955104828,"y":0.08991599828004837,"z":6.709991721436381E-4},{"x":0.1648460030555725,"y":0.08991599828004837,"z":6.38013007119298E-4},{"x":0.17983201146125793,"y":0.08991599828004837,"z":5.956022068858147E-4},{"x":0.0,"y":0.1049019992351532,"z":4.2219346505589783E-4},{"x":0.014986000023782253,"y":0.1049019992351532,"z":4.8345347750000656E-4},{"x":0.059943996369838715,"y":0.1049019992351532,"z":6.10685849096626E-4},{"x":0.07492999732494354,"y":0.1049019992351532,"z":6.34247378911823E-4},{"x":0.08991599828004837,"y":0.1049019992351532,"z":6.483842735178769E-4},{"x":0.1049019992351532,"y":0.1049019992351532,"z":6.530965911224484E-4},{"x":0.11988800019025803,"y":0.1049019992351532,"z":6.483842735178769E-4},{"x":0.13487400114536285,"y":0.1049019992351532,"z":6.34247378911823E-4},{"x":0.0,"y":0.11988800019025803,"z":3.216711920686066E-4},{"x":0.014986000023782253,"y":0.11988800019025803,"z":3.829312336165458E-4},{"x":0.059943996369838715,"y":0.11988800019025803,"z":5.101635470055044E-4},{"x":0.07492999732494354,"y":0.11988800019025803,"z":5.337251350283623E-4},{"x":0.08991599828004837,"y":0.11988800019025803,"z":5.478620296344161E-4},{"x":0.1049019992351532,"y":0.11988800019025803,"z":5.525743472389877E-4},{"x":0.11988800019025803,"y":0.11988800019025803,"z":5.478620296344161E-4},{"x":0.13487400114536285,"y":0.11988800019025803,"z":5.337251350283623E-4},{"x":0.0,"y":0.13487400114536285,"z":1.8094004190061241E-4},{"x":0.014986000023782253,"y":0.13487400114536285,"z":2.4220005434472114E-4},{"x":0.029971998184919357,"y":0.13487400114536285,"z":2.9403544613160193E-4},{"x":0.044957999140024185,"y":0.13487400114536285,"z":3.3644624636508524E-4},{"x":0.059943996369838715,"y":0.13487400114536285,"z":3.694324113894254E-4},{"x":0.07492999732494354,"y":0.13487400114536285,"z":3.929939412046224E-4},{"x":0.08991599828004837,"y":0.13487400114536285,"z":4.0713089401833713E-4},{"x":0.1049019992351532,"y":0.13487400114536285,"z":4.1184318251907825E-4},{"x":0.11988800019025803,"y":0.13487400114536285,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.13487400114536285,"z":3.929939412046224E-4},{"x":0.17983201146125793,"y":0.13487400114536285,"z":2.940354170277715E-4},{"x":0.19481800496578217,"y":0.13487400114536285,"z":2.422000397928059E-4}],"locationInImageSpace":[{"x":361.5301513671875,"y":234.6748046875},{"x":386.26336669921875,"y":236.70297241210938},{"x":410.4444580078125,"y":237.72933959960938},{"x":434.9234924316406,"y":239.2140655517578},{"x":459.1680603027344,"y":241.10470581054688},{"x":484.15948486328125,"y":242.9393310546875},{"x":508.3902893066406,"y":243.98036193847656},{"x":533.0380859375,"y":245.87405395507812},{"x":557.8212280273438,"y":246.9939422607422},{"x":582.8865966796875,"y":248.71092224121094},{"x":263.035888671875,"y":252.28955078125},{"x":335.8581848144531,"y":257.646484375},{"x":360.02655029296875,"y":259.1877746582031},{"x":384.601806640625,"y":260.4828186035156},{"x":409.02471923828125,"y":262.21673583984375},{"x":433.17266845703125,"y":263.7741394042969},{"x":457.8654479980469,"y":266.0336608886719},{"x":481.919189453125,"y":267.0527038574219},{"x":506.9129333496094,"y":268.68682861328125},{"x":530.9968872070312,"y":270.6133728027344},{"x":556.4528198242188,"y":271.6961364746094},{"x":581.060302734375,"y":273.367919921875},{"x":261.3626403808594,"y":276.96014404296875},{"x":285.437744140625,"y":278.3247375488281},{"x":309.7030944824219,"y":280.406494140625},{"x":333.9482421875,"y":282.0434875488281},{"x":357.9686584472656,"y":283.9642639160156},{"x":382.3905029296875,"y":284.6883544921875},{"x":406.97955322265625,"y":286.8037414550781},{"x":431.353515625,"y":288.4241027832031},{"x":455.8408203125,"y":290.22259521484375},{"x":529.322021484375,"y":294.91912841796875},{"x":554.4479370117188,"y":296.7456359863281},{"x":579.7395629882812,"y":298.71649169921875},{"x":259.43096923828125,"y":301.02215576171875},{"x":283.95953369140625,"y":302.8628845214844},{"x":307.86065673828125,"y":303.9591979980469},{"x":332.3128662109375,"y":306.0545959472656},{"x":405.08245849609375,"y":310.6739807128906},{"x":429.85784912109375,"y":312.71173095703125},{"x":454.1188049316406,"y":314.0670166015625},{"x":527.9939575195312,"y":319.3300476074219},{"x":258.0335693359375,"y":325.2834167480469},{"x":282.29638671875,"y":327.0295104980469},{"x":306.6900634765625,"y":328.205322265625},{"x":403.72601318359375,"y":335.22564697265625},{"x":427.7828369140625,"y":337.2568359375},{"x":451.8995666503906,"y":339.1499328613281},{"x":476.3668212890625,"y":339.8581848144531},{"x":501.36053466796875,"y":342.1776123046875},{"x":525.9441528320312,"y":343.9731750488281},{"x":256.0010986328125,"y":349.7542724609375},{"x":280.1192932128906,"y":351.69482421875},{"x":304.3041076660156,"y":352.4888610839844},{"x":377.7017517089844,"y":357.8014221191406},{"x":401.7270812988281,"y":359.5804748535156},{"x":426.6546630859375,"y":361.2328186035156},{"x":450.7423095703125,"y":363.3801574707031},{"x":475.23101806640625,"y":365.0490417480469},{"x":499.2344970703125,"y":366.4915466308594},{"x":524.216064453125,"y":368.8169860839844},{"x":549.1507568359375,"y":370.1493835449219},{"x":573.6682739257812,"y":371.6837158203125},{"x":254.2231903076172,"y":374.2646484375},{"x":278.8288269042969,"y":375.7950439453125},{"x":302.9579162597656,"y":377.71319580078125},{"x":327.1982421875,"y":379.230224609375},{"x":351.20123291015625,"y":381.2287902832031},{"x":375.85284423828125,"y":382.4900817871094},{"x":400.4555969238281,"y":384.06494140625},{"x":424.9347839355469,"y":385.9520263671875},{"x":449.1390380859375,"y":387.34625244140625},{"x":473.35406494140625,"y":389.08856201171875},{"x":498.0531921386719,"y":391.2030029296875},{"x":522.4625854492188,"y":392.8008117675781},{"x":547.6727294921875,"y":394.7622375488281},{"x":252.95367431640625,"y":398.5953369140625},{"x":277.0147399902344,"y":400.0989685058594},{"x":349.4983215332031,"y":405.1875},{"x":374.16998291015625,"y":406.6296691894531},{"x":398.39581298828125,"y":408.6793518066406},{"x":422.904052734375,"y":410.429443359375},{"x":446.99432373046875,"y":411.7513427734375},{"x":471.70751953125,"y":413.96905517578125},{"x":251.23846435546875,"y":422.5128173828125},{"x":275.39984130859375,"y":424.65972900390625},{"x":348.2715148925781,"y":429.59454345703125},{"x":372.7687683105469,"y":431.514892578125},{"x":396.4979248046875,"y":433.5758361816406},{"x":421.71258544921875,"y":434.88140869140625},{"x":445.83294677734375,"y":436.6502380371094},{"x":470.0816345214844,"y":438.4033508300781},{"x":249.20474243164062,"y":447.18121337890625},{"x":273.4985656738281,"y":449.07452392578125},{"x":297.8262023925781,"y":450.9889221191406},{"x":322.2550048828125,"y":452.5896911621094},{"x":346.1344909667969,"y":454.01165771484375},{"x":370.8225402832031,"y":456.0155944824219},{"x":394.71478271484375,"y":457.39801025390625},{"x":419.46533203125,"y":459.1487121582031},{"x":443.972900390625,"y":461.11004638671875},{"x":468.6275634765625,"y":462.9623718261719},{"x":542.3748168945312,"y":468.7232360839844},{"x":567.3867797851562,"y":470.81036376953125}],"reprojectionErrors":[{"x":0.02960205078125,"y":-0.0530853271484375},{"x":-0.4364013671875,"y":-0.2858428955078125},{"x":-0.091094970703125,"y":0.2761993408203125},{"x":-0.1102294921875,"y":-0.013092041015625},{"x":-0.2103271484375,"y":0.472869873046875},{"x":-0.53643798828125,"y":0.3632659912109375},{"x":-0.05279541015625,"y":0.2834014892578125},{"x":-0.242767333984375,"y":-0.2259521484375},{"x":-0.122772216796875,"y":-0.149261474609375},{"x":-0.368011474609375,"y":0.174896240234375},{"x":-0.41741943359375,"y":0.061553955078125},{"x":0.08709716796875,"y":0.0965576171875},{"x":-0.341461181640625,"y":0.089569091796875},{"x":0.19219970703125,"y":-0.207916259765625},{"x":-0.591796875,"y":0.340423583984375},{"x":-0.47119140625,"y":0.301910400390625},{"x":-0.01348876953125,"y":-0.10430908203125},{"x":0.077178955078125,"y":0.164886474609375},{"x":0.014007568359375,"y":-0.2816162109375},{"x":0.009185791015625,"y":-0.28173828125},{"x":0.268951416015625,"y":-0.563934326171875},{"x":0.1689453125,"y":0.352386474609375},{"x":-0.054901123046875,"y":-0.120635986328125},{"x":-0.01849365234375,"y":-0.096588134765625},{"x":-0.0484619140625,"y":-0.24847412109375},{"x":0.14202880859375,"y":0.009033203125},{"x":-0.32061767578125,"y":-0.160980224609375},{"x":-0.8929443359375,"y":-0.472564697265625},{"x":0.271575927734375,"y":0.100433349609375},{"x":-0.09686279296875,"y":-0.0875244140625},{"x":0.198486328125,"y":0.471038818359375},{"x":-0.210113525390625,"y":0.027801513671875},{"x":-0.019775390625,"y":0.34222412109375},{"x":-0.24169921875,"y":0.106170654296875},{"x":0.009185791015625,"y":0.0968017578125},{"x":-0.096832275390625,"y":0.02264404296875},{"x":-0.29742431640625,"y":0.52142333984375},{"x":-0.163177490234375,"y":0.228240966796875},{"x":0.540679931640625,"y":0.674713134765625},{"x":0.093658447265625,"y":0.05535888671875},{"x":0.1090087890625,"y":-0.036407470703125},{"x":0.413055419921875,"y":0.532562255859375},{"x":-0.372467041015625,"y":0.31353759765625},{"x":-0.0137939453125,"y":-0.117401123046875},{"x":-0.007598876953125,"y":-0.065826416015625},{"x":0.05718994140625,"y":0.224945068359375},{"x":0.4586639404296875,"y":-0.36859130859375},{"x":0.01007080078125,"y":-0.188262939453125},{"x":0.074249267578125,"y":-0.391876220703125},{"x":0.065185546875,"y":-0.190460205078125},{"x":0.3331298828125,"y":-0.466522216796875},{"x":-0.331787109375,"y":0.0032958984375},{"x":-0.088653564453125,"y":0.349029541015625},{"x":0.1922607421875,"y":0.35137939453125},{"x":-0.3289794921875,"y":-0.05877685546875},{"x":0.02606201171875,"y":-0.427093505859375},{"x":0.125640869140625,"y":-0.200347900390625},{"x":0.34814453125,"y":-0.0709228515625},{"x":-0.007598876953125,"y":0.235565185546875},{"x":0.12567138671875,"y":-0.060546875},{"x":0.021484375,"y":-0.05206298828125},{"x":0.38201904296875,"y":0.389801025390625},{"x":0.16815185546875,"y":-0.058868408203125},{"x":0.0240631103515625,"y":-0.053558349609375},{"x":0.02923583984375,"y":-0.450225830078125},{"x":-0.118743896484375,"y":-0.10406494140625},{"x":-0.29425048828125,"y":-0.2535400390625},{"x":0.34149169921875,"y":-0.53814697265625},{"x":-0.463287353515625,"y":-0.061737060546875},{"x":-0.1270751953125,"y":-0.0428466796875},{"x":0.129364013671875,"y":-0.0023193359375},{"x":0.3249664306640625,"y":-0.40509033203125},{"x":0.205902099609375,"y":-0.528106689453125},{"x":0.089202880859375,"y":-0.666656494140625},{"x":-0.09075927734375,"y":-0.485931396484375},{"x":0.318267822265625,"y":-0.120574951171875},{"x":0.44097900390625,"y":0.085662841796875},{"x":0.10845947265625,"y":0.140533447265625},{"x":0.02630615234375,"y":-0.307830810546875},{"x":-0.25994873046875,"y":-0.549072265625}],"optimisedCameraToObject":{"translation":{"x":-0.07327389059827613,"y":-0.061018139232131625,"z":0.4184265274985295},"rotation":{"quaternion":{"W":0.9993205431046267,"X":-0.001298035325748644,"Y":0.013110199969478377,"Z":0.03442222959262479}}},"cornersUsed":[false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,false,false,true,true,true,false,false,true,false,false,true,true,true,false,false,false,true,true,true,true,true,true,false,false,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,true,true,false,false,true,true,true,true,true,true,false,false,false,false,true,true,false,false,true,true,true,true,true,true,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,true,true],"snapshotName":"img4.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/6194b9a1-d71c-4a88-9d65-79d4ce11b4d1/imgs/800x600/img4.png"},{"locationInObjectSpace":[{"x":0.0,"y":0.0,"z":0.0},{"x":0.044957999140024185,"y":0.0,"z":1.5550620446447283E-4},{"x":0.059943996369838715,"y":0.0,"z":1.8849235493689775E-4},{"x":0.07492999732494354,"y":0.0,"z":2.120539138559252E-4},{"x":0.08991599828004837,"y":0.0,"z":2.261908375658095E-4},{"x":0.1049019992351532,"y":0.0,"z":2.3090315517038107E-4},{"x":0.11988800019025803,"y":0.0,"z":2.261908375658095E-4},{"x":0.13487400114536285,"y":0.0,"z":2.120539138559252E-4},{"x":0.14986000955104828,"y":0.0,"z":1.8849235493689775E-4},{"x":0.1648460030555725,"y":0.0,"z":1.555061899125576E-4},{"x":0.17983201146125793,"y":0.0,"z":1.1309538240311667E-4},{"x":0.19481800496578217,"y":0.0,"z":6.12599978921935E-5},{"x":0.0,"y":0.014986000023782253,"z":1.8094005645252764E-4},{"x":0.044957999140024185,"y":0.014986000023782253,"z":3.3644624636508524E-4},{"x":0.059943996369838715,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.07492999732494354,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.08991599828004837,"y":0.014986000023782253,"z":4.0713089401833713E-4},{"x":0.1049019992351532,"y":0.014986000023782253,"z":4.118432116229087E-4},{"x":0.11988800019025803,"y":0.014986000023782253,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.14986000955104828,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.1648460030555725,"y":0.014986000023782253,"z":3.3644624636508524E-4},{"x":0.0,"y":0.029971998184919357,"z":3.216711920686066E-4},{"x":0.014986000023782253,"y":0.029971998184919357,"z":3.8293120451271534E-4},{"x":0.029971998184919357,"y":0.029971998184919357,"z":4.3476661085151136E-4},{"x":0.044957999140024185,"y":0.029971998184919357,"z":4.771773819811642E-4},{"x":0.059943996369838715,"y":0.029971998184919357,"z":5.101635470055044E-4},{"x":0.07492999732494354,"y":0.029971998184919357,"z":5.337250768207014E-4},{"x":0.08991599828004837,"y":0.029971998184919357,"z":5.478620296344161E-4},{"x":0.1049019992351532,"y":0.029971998184919357,"z":5.525743472389877E-4},{"x":0.11988800019025803,"y":0.029971998184919357,"z":5.478620296344161E-4},{"x":0.13487400114536285,"y":0.029971998184919357,"z":5.337250768207014E-4},{"x":0.14986000955104828,"y":0.029971998184919357,"z":5.101635470055044E-4},{"x":0.0,"y":0.044957999140024185,"z":4.221934359520674E-4},{"x":0.014986000023782253,"y":0.044957999140024185,"z":4.8345347750000656E-4},{"x":0.029971998184919357,"y":0.044957999140024185,"z":5.352888838388026E-4},{"x":0.044957999140024185,"y":0.044957999140024185,"z":5.77699625864625E-4},{"x":0.08991599828004837,"y":0.044957999140024185,"z":6.483842735178769E-4},{"x":0.1049019992351532,"y":0.044957999140024185,"z":6.530965911224484E-4},{"x":0.11988800019025803,"y":0.044957999140024185,"z":6.483842735178769E-4},{"x":0.13487400114536285,"y":0.044957999140024185,"z":6.34247378911823E-4},{"x":0.14986000955104828,"y":0.044957999140024185,"z":6.106857908889651E-4},{"x":0.19481800496578217,"y":0.044957999140024185,"z":4.834534483961761E-4},{"x":0.0,"y":0.059943996369838715,"z":4.825067881029099E-4},{"x":0.014986000023782253,"y":0.059943996369838715,"z":5.437668296508491E-4},{"x":0.029971998184919357,"y":0.059943996369838715,"z":5.956022068858147E-4},{"x":0.044957999140024185,"y":0.059943996369838715,"z":6.38013007119298E-4},{"x":0.08991599828004837,"y":0.059943996369838715,"z":7.086976547725499E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":7.134099723771214E-4},{"x":0.11988800019025803,"y":0.059943996369838715,"z":7.086976547725499E-4},{"x":0.13487400114536285,"y":0.059943996369838715,"z":6.945607019588351E-4},{"x":0.14986000955104828,"y":0.059943996369838715,"z":6.709991721436381E-4},{"x":0.1648460030555725,"y":0.059943996369838715,"z":6.38013007119298E-4},{"x":0.17983201146125793,"y":0.059943996369838715,"z":5.956022068858147E-4},{"x":0.19481800496578217,"y":0.059943996369838715,"z":5.437667714431882E-4},{"x":0.0,"y":0.07492999732494354,"z":5.026112776249647E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":5.638712900690734E-4},{"x":0.029971998184919357,"y":0.07492999732494354,"z":6.15706667304039E-4},{"x":0.044957999140024185,"y":0.07492999732494354,"z":6.581174675375223E-4},{"x":0.059943996369838715,"y":0.07492999732494354,"z":6.911036325618625E-4},{"x":0.07492999732494354,"y":0.07492999732494354,"z":7.146651623770595E-4},{"x":0.08991599828004837,"y":0.07492999732494354,"z":7.288021151907742E-4},{"x":0.1049019992351532,"y":0.07492999732494354,"z":7.335144327953458E-4},{"x":0.11988800019025803,"y":0.07492999732494354,"z":7.288021151907742E-4},{"x":0.13487400114536285,"y":0.07492999732494354,"z":7.146651623770595E-4},{"x":0.14986000955104828,"y":0.07492999732494354,"z":6.911036325618625E-4},{"x":0.1648460030555725,"y":0.07492999732494354,"z":6.581174675375223E-4},{"x":0.044957999140024185,"y":0.08991599828004837,"z":6.38013007119298E-4},{"x":0.059943996369838715,"y":0.08991599828004837,"z":6.709991721436381E-4},{"x":0.07492999732494354,"y":0.08991599828004837,"z":6.945607019588351E-4},{"x":0.08991599828004837,"y":0.08991599828004837,"z":7.086976547725499E-4},{"x":0.1049019992351532,"y":0.08991599828004837,"z":7.134099723771214E-4},{"x":0.11988800019025803,"y":0.08991599828004837,"z":7.086976547725499E-4},{"x":0.13487400114536285,"y":0.08991599828004837,"z":6.945607019588351E-4},{"x":0.14986000955104828,"y":0.08991599828004837,"z":6.709991721436381E-4},{"x":0.1648460030555725,"y":0.08991599828004837,"z":6.38013007119298E-4},{"x":0.044957999140024185,"y":0.1049019992351532,"z":5.776996840722859E-4},{"x":0.059943996369838715,"y":0.1049019992351532,"z":6.10685849096626E-4},{"x":0.07492999732494354,"y":0.1049019992351532,"z":6.34247378911823E-4},{"x":0.08991599828004837,"y":0.1049019992351532,"z":6.483842735178769E-4},{"x":0.1049019992351532,"y":0.1049019992351532,"z":6.530965911224484E-4},{"x":0.11988800019025803,"y":0.1049019992351532,"z":6.483842735178769E-4},{"x":0.13487400114536285,"y":0.1049019992351532,"z":6.34247378911823E-4},{"x":0.14986000955104828,"y":0.1049019992351532,"z":6.106857908889651E-4},{"x":0.1648460030555725,"y":0.1049019992351532,"z":5.776996840722859E-4},{"x":0.17983201146125793,"y":0.1049019992351532,"z":5.352888256311417E-4},{"x":0.19481800496578217,"y":0.1049019992351532,"z":4.834534483961761E-4},{"x":0.0,"y":0.11988800019025803,"z":3.216711920686066E-4},{"x":0.014986000023782253,"y":0.11988800019025803,"z":3.829312336165458E-4},{"x":0.029971998184919357,"y":0.11988800019025803,"z":4.3476661085151136E-4},{"x":0.044957999140024185,"y":0.11988800019025803,"z":4.771774110849947E-4},{"x":0.059943996369838715,"y":0.11988800019025803,"z":5.101635470055044E-4},{"x":0.07492999732494354,"y":0.11988800019025803,"z":5.337251350283623E-4},{"x":0.08991599828004837,"y":0.11988800019025803,"z":5.478620296344161E-4},{"x":0.1049019992351532,"y":0.11988800019025803,"z":5.525743472389877E-4},{"x":0.11988800019025803,"y":0.11988800019025803,"z":5.478620296344161E-4},{"x":0.13487400114536285,"y":0.11988800019025803,"z":5.337251350283623E-4},{"x":0.14986000955104828,"y":0.11988800019025803,"z":5.101635470055044E-4},{"x":0.19481800496578217,"y":0.11988800019025803,"z":3.8293120451271534E-4},{"x":0.0,"y":0.13487400114536285,"z":1.8094004190061241E-4},{"x":0.014986000023782253,"y":0.13487400114536285,"z":2.4220005434472114E-4},{"x":0.029971998184919357,"y":0.13487400114536285,"z":2.9403544613160193E-4},{"x":0.044957999140024185,"y":0.13487400114536285,"z":3.3644624636508524E-4},{"x":0.059943996369838715,"y":0.13487400114536285,"z":3.694324113894254E-4},{"x":0.07492999732494354,"y":0.13487400114536285,"z":3.929939412046224E-4},{"x":0.08991599828004837,"y":0.13487400114536285,"z":4.0713089401833713E-4},{"x":0.1049019992351532,"y":0.13487400114536285,"z":4.1184318251907825E-4},{"x":0.11988800019025803,"y":0.13487400114536285,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.13487400114536285,"z":3.929939412046224E-4},{"x":0.14986000955104828,"y":0.13487400114536285,"z":3.6943238228559494E-4},{"x":0.19481800496578217,"y":0.13487400114536285,"z":2.422000397928059E-4}],"locationInImageSpace":[{"x":429.82403564453125,"y":247.14051818847656},{"x":501.7240295410156,"y":250.09466552734375},{"x":525.6709594726562,"y":251.265625},{"x":549.9720458984375,"y":251.9733428955078},{"x":574.6265869140625,"y":253.77967834472656},{"x":598.921875,"y":254.13966369628906},{"x":624.3326416015625,"y":255.8232879638672},{"x":649.3616943359375,"y":256.5067138671875},{"x":674.60302734375,"y":258.2283935546875},{"x":699.7225341796875,"y":258.8331604003906},{"x":725.308349609375,"y":260.1156311035156},{"x":750.847900390625,"y":261.048095703125},{"x":428.26617431640625,"y":270.2826232910156},{"x":500.1973876953125,"y":274.1828918457031},{"x":524.469970703125,"y":274.92694091796875},{"x":548.4581298828125,"y":276.74664306640625},{"x":573.4617919921875,"y":277.7525939941406},{"x":598.2627563476562,"y":278.3540954589844},{"x":622.974853515625,"y":279.856201171875},{"x":648.3316040039062,"y":280.8487548828125},{"x":673.2369384765625,"y":282.1818542480469},{"x":698.8049926757812,"y":283.2485656738281},{"x":427.6453857421875,"y":293.93048095703125},{"x":451.3276062011719,"y":295.6441955566406},{"x":474.90399169921875,"y":297.0882263183594},{"x":499.08367919921875,"y":298.1806640625},{"x":523.6593017578125,"y":298.90509033203125},{"x":547.2699584960938,"y":300.5601501464844},{"x":572.2188110351562,"y":301.3536376953125},{"x":596.9407958984375,"y":302.7393493652344},{"x":622.1361083984375,"y":304.12481689453125},{"x":647.0108032226562,"y":305.30108642578125},{"x":672.2230834960938,"y":306.3869934082031},{"x":425.9416809082031,"y":317.7410583496094},{"x":449.9718933105469,"y":318.8469543457031},{"x":473.6812438964844,"y":320.54217529296875},{"x":498.077880859375,"y":321.6579895019531},{"x":571.5259399414062,"y":325.7871398925781},{"x":596.0516967773438,"y":327.0461120605469},{"x":621.0449829101562,"y":328.1934509277344},{"x":646.0759887695312,"y":329.6431884765625},{"x":671.8114013671875,"y":331.26531982421875},{"x":748.2512817382812,"y":335.04150390625},{"x":424.5418395996094,"y":341.32415771484375},{"x":448.1874694824219,"y":343.2007141113281},{"x":472.5421447753906,"y":344.14599609375},{"x":497.3088073730469,"y":346.233154296875},{"x":570.3140258789062,"y":349.74822998046875},{"x":594.8867797851562,"y":350.9466552734375},{"x":619.8912963867188,"y":352.46527099609375},{"x":645.078125,"y":354.6081237792969},{"x":670.3474731445312,"y":355.7184143066406},{"x":695.5159301757812,"y":356.7629699707031},{"x":721.4099731445312,"y":358.4081115722656},{"x":747.1227416992188,"y":359.8934326171875},{"x":422.778564453125,"y":365.0330505371094},{"x":447.1424255371094,"y":366.50726318359375},{"x":471.18560791015625,"y":367.9722900390625},{"x":495.5365295410156,"y":369.49517822265625},{"x":520.09228515625,"y":371.4070739746094},{"x":544.3920288085938,"y":372.5616455078125},{"x":568.68798828125,"y":373.8815612792969},{"x":593.7483520507812,"y":375.745361328125},{"x":618.81298828125,"y":377.06036376953125},{"x":643.3614501953125,"y":379.2503967285156},{"x":669.210693359375,"y":379.9150390625},{"x":694.976318359375,"y":381.321533203125},{"x":494.03253173828125,"y":393.4390869140625},{"x":518.5738525390625,"y":395.5525207519531},{"x":543.21044921875,"y":397.1166687011719},{"x":567.9579467773438,"y":398.5335388183594},{"x":592.911376953125,"y":400.1909484863281},{"x":617.9976196289062,"y":402.0020751953125},{"x":642.961181640625,"y":403.2425231933594},{"x":668.3636474609375,"y":405.1243896484375},{"x":693.9209594726562,"y":406.69146728515625},{"x":493.0217590332031,"y":418.17584228515625},{"x":517.3535766601562,"y":419.7565612792969},{"x":541.9424438476562,"y":421.5702819824219},{"x":566.845703125,"y":423.03192138671875},{"x":592.347412109375,"y":424.4959716796875},{"x":616.9739990234375,"y":426.18267822265625},{"x":642.2765502929688,"y":428.1668395996094},{"x":667.6397094726562,"y":429.8829650878906},{"x":692.9137573242188,"y":431.3502197265625},{"x":718.5162353515625,"y":432.7189025878906},{"x":744.9793701171875,"y":434.77496337890625},{"x":419.0791015625,"y":437.78228759765625},{"x":443.2857666015625,"y":439.2220458984375},{"x":467.6682434082031,"y":440.96453857421875},{"x":491.9502258300781,"y":442.6656188964844},{"x":516.3607177734375,"y":444.24658203125},{"x":541.136962890625,"y":445.8404541015625},{"x":565.958251953125,"y":447.65301513671875},{"x":590.7017822265625,"y":449.6664733886719},{"x":615.826171875,"y":451.30389404296875},{"x":641.10693359375,"y":452.7574768066406},{"x":666.5244750976562,"y":454.9261474609375},{"x":743.7708740234375,"y":459.8627624511719},{"x":418.0830078125,"y":461.9903259277344},{"x":442.18182373046875,"y":463.6679992675781},{"x":466.3339538574219,"y":465.25689697265625},{"x":490.8991394042969,"y":467.1764221191406},{"x":515.31982421875,"y":468.8041076660156},{"x":540.2549438476562,"y":470.3294982910156},{"x":564.9321899414062,"y":472.1751708984375},{"x":589.89794921875,"y":474.29827880859375},{"x":615.0886840820312,"y":476.070068359375},{"x":640.3624267578125,"y":477.857666015625},{"x":665.8319091796875,"y":479.5920715332031},{"x":743.3262329101562,"y":485.70770263671875}],"reprojectionErrors":[{"x":-0.001708984375,"y":-0.08056640625},{"x":0.11053466796875,"y":0.4733123779296875},{"x":-0.05206298828125,"y":-0.2437286376953125},{"x":0.2982177734375,"y":0.4898223876953125},{"x":-0.3104248046875,"y":-0.095916748046875},{"x":-0.3775634765625,"y":0.322998046875},{"x":-0.49395751953125,"y":-0.291748046875},{"x":-0.32232666015625,"y":0.215118408203125},{"x":-0.44744873046875,"y":0.049102783203125},{"x":-0.3533935546875,"y":0.238037109375},{"x":0.240997314453125,"y":0.345703125},{"x":0.1156005859375,"y":-0.122039794921875},{"x":0.064453125,"y":0.287689208984375},{"x":-0.16461181640625,"y":0.35223388671875},{"x":-0.04559326171875,"y":0.02459716796875},{"x":-0.4111328125,"y":0.212005615234375},{"x":-0.16180419921875,"y":0.06451416015625},{"x":-0.40869140625,"y":0.18914794921875},{"x":-0.4580078125,"y":0.320037841796875},{"x":-0.316253662109375,"y":-0.1839599609375},{"x":0.070953369140625,"y":-0.412689208984375},{"x":-0.002685546875,"y":-0.28411865234375},{"x":0.06414794921875,"y":0.241485595703125},{"x":0.04730224609375,"y":0.100921630859375},{"x":-0.285400390625,"y":-0.032989501953125},{"x":-0.13702392578125,"y":0.048828125},{"x":-0.16241455078125,"y":0.227691650390625},{"x":-0.079132080078125,"y":0.192291259765625},{"x":-0.254150390625,"y":0.3668212890625},{"x":0.03167724609375,"y":-0.041412353515625},{"x":-0.226959228515625,"y":0.136383056640625},{"x":-0.3748779296875,"y":-0.0704345703125},{"x":-0.16192626953125,"y":-0.00762939453125},{"x":-0.502197265625,"y":0.08905029296875},{"x":-0.009521484375,"y":0.359588623046875},{"x":0.23358154296875,"y":-0.165283203125},{"x":-0.09197998046875,"y":0.24859619140625},{"x":-0.08392333984375,"y":0.361480712890625},{"x":-0.1553955078125,"y":0.250274658203125},{"x":-0.247802734375,"y":-0.4765625},{"x":-0.25799560546875,"y":-0.1619873046875},{"x":6.7138671875E-4,"y":0.227294921875},{"x":0.41766357421875,"y":0.47564697265625},{"x":-0.021575927734375,"y":0.424957275390625},{"x":6.40869140625E-4,"y":0.39190673828125},{"x":-0.141204833984375,"y":0.3095703125},{"x":-0.34130859375,"y":-0.152984619140625},{"x":-0.021240234375,"y":-0.088775634765625},{"x":-0.11383056640625,"y":0.082489013671875},{"x":0.47174072265625,"y":-0.611572265625},{"x":-0.078369140625,"y":0.229644775390625},{"x":-0.37628173828125,"y":0.339111328125},{"x":0.136566162109375,"y":0.4925537109375},{"x":-0.009521484375,"y":-0.09613037109375},{"x":-0.100830078125,"y":-0.12554931640625},{"x":-0.15008544921875,"y":0.002471923828125},{"x":-0.24908447265625,"y":-0.099700927734375},{"x":-0.3216552734375,"y":-0.345001220703125},{"x":-0.10906982421875,"y":-0.00885009765625},{"x":-0.169677734375,"y":-0.303131103515625},{"x":-0.216064453125,"y":-0.27142333984375},{"x":-0.07830810546875,"y":-0.02642822265625},{"x":0.0272216796875,"y":-0.006317138671875},{"x":0.02618408203125,"y":-0.20819091796875},{"x":-0.13568115234375,"y":-0.046783447265625},{"x":-0.73931884765625,"y":0.1236572265625},{"x":-0.30804443359375,"y":0.08306884765625},{"x":0.069854736328125,"y":-0.279876708984375},{"x":-0.090301513671875,"y":-0.076751708984375},{"x":-0.2840576171875,"y":-0.16497802734375},{"x":-0.232177734375,"y":-0.200164794921875},{"x":-0.1607666015625,"y":-0.10345458984375},{"x":-0.30401611328125,"y":-0.007598876953125},{"x":-0.3382568359375,"y":-0.1181640625},{"x":-0.137451171875,"y":-0.417144775390625},{"x":-0.1571044921875,"y":-0.327362060546875},{"x":-0.221832275390625,"y":-0.112060546875},{"x":-0.4066162109375,"y":-0.289093017578125},{"x":-0.29827880859375,"y":-0.161468505859375},{"x":-0.552734375,"y":0.081573486328125},{"x":-0.3946533203125,"y":0.01763916015625},{"x":-0.3671875,"y":-0.310150146484375},{"x":-0.40374755859375,"y":-0.272796630859375},{"x":-0.3590087890625,"y":-0.2371826171875},{"x":-0.34234619140625,"y":-0.134033203125},{"x":-0.3387451171875,"y":-0.64825439453125}],"optimisedCameraToObject":{"translation":{"x":0.02929226119922127,"y":-0.050780894048046095,"z":0.4297316601027731},"rotation":{"quaternion":{"W":0.9983508614103545,"X":-0.02556226701514093,"Y":0.0428189446417495,"Z":0.02843705339898563}}},"cornersUsed":[true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,false,false,false,true,true,true,true,false,false,true,true,true,true,true,false,false,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,false,false,true],"snapshotName":"img5.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/6194b9a1-d71c-4a88-9d65-79d4ce11b4d1/imgs/800x600/img5.png"},{"locationInObjectSpace":[{"x":0.0,"y":0.0,"z":0.0},{"x":0.014986000023782253,"y":0.0,"z":6.126001972006634E-5},{"x":0.029971998184919357,"y":0.0,"z":1.1309541878290474E-4},{"x":0.044957999140024185,"y":0.0,"z":1.5550620446447283E-4},{"x":0.059943996369838715,"y":0.0,"z":1.8849235493689775E-4},{"x":0.07492999732494354,"y":0.0,"z":2.120539138559252E-4},{"x":0.08991599828004837,"y":0.0,"z":2.261908375658095E-4},{"x":0.1049019992351532,"y":0.0,"z":2.3090315517038107E-4},{"x":0.11988800019025803,"y":0.0,"z":2.261908375658095E-4},{"x":0.13487400114536285,"y":0.0,"z":2.120539138559252E-4},{"x":0.14986000955104828,"y":0.0,"z":1.8849235493689775E-4},{"x":0.1648460030555725,"y":0.0,"z":1.555061899125576E-4},{"x":0.17983201146125793,"y":0.0,"z":1.1309538240311667E-4},{"x":0.19481800496578217,"y":0.0,"z":6.12599978921935E-5},{"x":0.0,"y":0.014986000023782253,"z":1.8094005645252764E-4},{"x":0.014986000023782253,"y":0.014986000023782253,"z":2.4220006889663637E-4},{"x":0.029971998184919357,"y":0.014986000023782253,"z":2.940354752354324E-4},{"x":0.044957999140024185,"y":0.014986000023782253,"z":3.3644624636508524E-4},{"x":0.059943996369838715,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.07492999732494354,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.08991599828004837,"y":0.014986000023782253,"z":4.0713089401833713E-4},{"x":0.1049019992351532,"y":0.014986000023782253,"z":4.118432116229087E-4},{"x":0.11988800019025803,"y":0.014986000023782253,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.14986000955104828,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.1648460030555725,"y":0.014986000023782253,"z":3.3644624636508524E-4},{"x":0.17983201146125793,"y":0.014986000023782253,"z":2.9403544613160193E-4},{"x":0.19481800496578217,"y":0.014986000023782253,"z":2.4220005434472114E-4},{"x":0.0,"y":0.029971998184919357,"z":3.216711920686066E-4},{"x":0.014986000023782253,"y":0.029971998184919357,"z":3.8293120451271534E-4},{"x":0.029971998184919357,"y":0.029971998184919357,"z":4.3476661085151136E-4},{"x":0.044957999140024185,"y":0.029971998184919357,"z":4.771773819811642E-4},{"x":0.059943996369838715,"y":0.029971998184919357,"z":5.101635470055044E-4},{"x":0.07492999732494354,"y":0.029971998184919357,"z":5.337250768207014E-4},{"x":0.08991599828004837,"y":0.029971998184919357,"z":5.478620296344161E-4},{"x":0.1049019992351532,"y":0.029971998184919357,"z":5.525743472389877E-4},{"x":0.11988800019025803,"y":0.029971998184919357,"z":5.478620296344161E-4},{"x":0.13487400114536285,"y":0.029971998184919357,"z":5.337250768207014E-4},{"x":0.14986000955104828,"y":0.029971998184919357,"z":5.101635470055044E-4},{"x":0.1648460030555725,"y":0.029971998184919357,"z":4.771773819811642E-4},{"x":0.17983201146125793,"y":0.029971998184919357,"z":4.347665817476809E-4},{"x":0.19481800496578217,"y":0.029971998184919357,"z":3.8293120451271534E-4},{"x":0.0,"y":0.044957999140024185,"z":4.221934359520674E-4},{"x":0.014986000023782253,"y":0.044957999140024185,"z":4.8345347750000656E-4},{"x":0.029971998184919357,"y":0.044957999140024185,"z":5.352888838388026E-4},{"x":0.044957999140024185,"y":0.044957999140024185,"z":5.77699625864625E-4},{"x":0.059943996369838715,"y":0.044957999140024185,"z":6.106857908889651E-4},{"x":0.07492999732494354,"y":0.044957999140024185,"z":6.34247378911823E-4},{"x":0.08991599828004837,"y":0.044957999140024185,"z":6.483842735178769E-4},{"x":0.1049019992351532,"y":0.044957999140024185,"z":6.530965911224484E-4},{"x":0.11988800019025803,"y":0.044957999140024185,"z":6.483842735178769E-4},{"x":0.13487400114536285,"y":0.044957999140024185,"z":6.34247378911823E-4},{"x":0.14986000955104828,"y":0.044957999140024185,"z":6.106857908889651E-4},{"x":0.1648460030555725,"y":0.044957999140024185,"z":5.77699625864625E-4},{"x":0.17983201146125793,"y":0.044957999140024185,"z":5.352888256311417E-4},{"x":0.19481800496578217,"y":0.044957999140024185,"z":4.834534483961761E-4},{"x":0.0,"y":0.059943996369838715,"z":4.825067881029099E-4},{"x":0.014986000023782253,"y":0.059943996369838715,"z":5.437668296508491E-4},{"x":0.029971998184919357,"y":0.059943996369838715,"z":5.956022068858147E-4},{"x":0.044957999140024185,"y":0.059943996369838715,"z":6.38013007119298E-4},{"x":0.059943996369838715,"y":0.059943996369838715,"z":6.709991721436381E-4},{"x":0.07492999732494354,"y":0.059943996369838715,"z":6.945607019588351E-4},{"x":0.08991599828004837,"y":0.059943996369838715,"z":7.086976547725499E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":7.134099723771214E-4},{"x":0.11988800019025803,"y":0.059943996369838715,"z":7.086976547725499E-4},{"x":0.13487400114536285,"y":0.059943996369838715,"z":6.945607019588351E-4},{"x":0.14986000955104828,"y":0.059943996369838715,"z":6.709991721436381E-4},{"x":0.1648460030555725,"y":0.059943996369838715,"z":6.38013007119298E-4},{"x":0.17983201146125793,"y":0.059943996369838715,"z":5.956022068858147E-4},{"x":0.19481800496578217,"y":0.059943996369838715,"z":5.437667714431882E-4},{"x":0.0,"y":0.07492999732494354,"z":5.026112776249647E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":5.638712900690734E-4},{"x":0.029971998184919357,"y":0.07492999732494354,"z":6.15706667304039E-4},{"x":0.044957999140024185,"y":0.07492999732494354,"z":6.581174675375223E-4},{"x":0.059943996369838715,"y":0.07492999732494354,"z":6.911036325618625E-4},{"x":0.07492999732494354,"y":0.07492999732494354,"z":7.146651623770595E-4},{"x":0.08991599828004837,"y":0.07492999732494354,"z":7.288021151907742E-4},{"x":0.1049019992351532,"y":0.07492999732494354,"z":7.335144327953458E-4},{"x":0.11988800019025803,"y":0.07492999732494354,"z":7.288021151907742E-4},{"x":0.13487400114536285,"y":0.07492999732494354,"z":7.146651623770595E-4},{"x":0.14986000955104828,"y":0.07492999732494354,"z":6.911036325618625E-4},{"x":0.1648460030555725,"y":0.07492999732494354,"z":6.581174675375223E-4},{"x":0.0,"y":0.08991599828004837,"z":4.825068172067404E-4}],"locationInImageSpace":[{"x":424.962646484375,"y":416.218505859375},{"x":449.92962646484375,"y":418.0823669433594},{"x":475.1268615722656,"y":419.4420471191406},{"x":500.2472229003906,"y":420.7156982421875},{"x":525.6901245117188,"y":423.0599670410156},{"x":551.7772827148438,"y":424.15606689453125},{"x":577.8763427734375,"y":426.33746337890625},{"x":604.2815551757812,"y":427.9102783203125},{"x":631.1080932617188,"y":429.5401916503906},{"x":657.9974975585938,"y":431.061279296875},{"x":685.15673828125,"y":433.23828125},{"x":712.6808471679688,"y":435.0404357910156},{"x":740.6887817382812,"y":436.7129821777344},{"x":768.7354736328125,"y":438.44677734375},{"x":423.61053466796875,"y":441.35296630859375},{"x":448.4606628417969,"y":443.4068908691406},{"x":474.02728271484375,"y":445.0533752441406},{"x":499.45758056640625,"y":446.8687438964844},{"x":525.0886840820312,"y":448.3558654785156},{"x":551.2329711914062,"y":450.6539306640625},{"x":577.5578002929688,"y":452.302978515625},{"x":604.1141967773438,"y":454.1449890136719},{"x":631.0457153320312,"y":455.98614501953125},{"x":658.11279296875,"y":457.9480285644531},{"x":685.1019897460938,"y":459.70184326171875},{"x":713.1747436523438,"y":461.6088562011719},{"x":740.9208984375,"y":463.622314453125},{"x":769.044189453125,"y":465.7398376464844},{"x":422.1265869140625,"y":467.11761474609375},{"x":447.03045654296875,"y":468.28680419921875},{"x":472.8813781738281,"y":470.7936706542969},{"x":498.4365234375,"y":472.69036865234375},{"x":524.4024047851562,"y":474.5709533691406},{"x":550.4730224609375,"y":476.7911682128906},{"x":576.9263916015625,"y":478.57916259765625},{"x":603.801513671875,"y":480.284423828125},{"x":630.6959838867188,"y":482.58935546875},{"x":657.8494262695312,"y":484.1577453613281},{"x":685.49267578125,"y":486.8011169433594},{"x":713.3092041015625,"y":488.5611267089844},{"x":741.4772338867188,"y":490.8988037109375},{"x":769.4717407226562,"y":492.65045166015625},{"x":420.9652404785156,"y":493.1181945800781},{"x":445.9190368652344,"y":495.0863952636719},{"x":471.8279113769531,"y":496.8463439941406},{"x":497.7814636230469,"y":498.855224609375},{"x":523.7008056640625,"y":501.0971984863281},{"x":549.8817138671875,"y":502.825439453125},{"x":576.3248901367188,"y":504.8069763183594},{"x":603.478271484375,"y":507.09295654296875},{"x":630.3548583984375,"y":509.2186584472656},{"x":658.0366821289062,"y":511.5684509277344},{"x":685.6873779296875,"y":513.7698974609375},{"x":713.4310913085938,"y":516.0315551757812},{"x":741.7755737304688,"y":518.1033935546875},{"x":769.9541015625,"y":520.0491943359375},{"x":419.1163330078125,"y":519.0489501953125},{"x":444.75225830078125,"y":521.1132202148438},{"x":470.7772216796875,"y":523.3321533203125},{"x":496.3999938964844,"y":525.3590087890625},{"x":522.9944458007812,"y":527.7259521484375},{"x":549.0615844726562,"y":529.5718383789062},{"x":576.0302124023438,"y":532.1030883789062},{"x":603.2303466796875,"y":534.5179443359375},{"x":630.2471313476562,"y":536.57421875},{"x":657.9668579101562,"y":539.093505859375},{"x":685.8048095703125,"y":541.1998901367188},{"x":713.584228515625,"y":543.3262939453125},{"x":741.921142578125,"y":545.6973266601562},{"x":770.2219848632812,"y":547.952392578125},{"x":417.93072509765625,"y":545.816162109375},{"x":443.4646301269531,"y":547.3999633789062},{"x":469.34259033203125,"y":550.185791015625},{"x":495.583984375,"y":552.5381469726562},{"x":521.8912353515625,"y":554.4895629882812},{"x":548.6849975585938,"y":557.2015380859375},{"x":575.4094848632812,"y":559.376708984375},{"x":603.1574096679688,"y":561.8465576171875},{"x":629.8627319335938,"y":563.9700927734375},{"x":658.1889038085938,"y":566.5286865234375},{"x":685.2029418945312,"y":568.8649291992188},{"x":713.8005981445312,"y":571.71826171875},{"x":416.2030029296875,"y":572.8761596679688}],"reprojectionErrors":[{"x":-0.006683349609375,"y":0.23663330078125},{"x":-0.002288818359375,"y":-0.021514892578125},{"x":-0.007568359375,"y":0.2381591796875},{"x":0.289306640625,"y":0.5977783203125},{"x":0.49365234375,"y":-0.098968505859375},{"x":0.28875732421875,"y":0.46697998046875},{"x":0.3118896484375,"y":-0.037506103515625},{"x":0.27410888671875,"y":0.081756591796875},{"x":0.06536865234375,"y":0.159423828125},{"x":0.0496826171875,"y":0.361785888671875},{"x":0.02557373046875,"y":-0.0755615234375},{"x":-0.0963134765625,"y":-0.12152099609375},{"x":-0.428955078125,"y":-0.02093505859375},{"x":-0.5213623046875,"y":0.035675048828125},{"x":-0.081817626953125,"y":0.2952880859375},{"x":0.169677734375,"y":-0.03289794921875},{"x":-0.0723876953125,"y":0.06170654296875},{"x":0.049560546875,"y":0.00311279296875},{"x":0.20318603515625,"y":0.288787841796875},{"x":0.0811767578125,"y":-0.220123291015625},{"x":0.021240234375,"y":-0.063262939453125},{"x":-0.02239990234375,"y":-0.08233642578125},{"x":-0.18798828125,"y":-0.083099365234375},{"x":-0.23040771484375,"y":-0.186737060546875},{"x":0.0694580078125,"y":-0.064117431640625},{"x":-0.444091796875,"y":-0.076080322265625},{"x":-0.35491943359375,"y":-0.17547607421875},{"x":-0.3607177734375,"y":-0.3594970703125},{"x":-0.044708251953125,"y":0.001953125},{"x":0.287139892578125,"y":0.681243896484375},{"x":-0.10272216796875,"y":0.040008544921875},{"x":0.033355712890625,"y":0.02642822265625},{"x":-0.0062255859375,"y":0.046844482421875},{"x":0.089599609375,"y":-0.254150390625},{"x":0.04803466796875,"y":-0.104278564453125},{"x":-0.1646728515625,"y":0.1473388671875},{"x":-0.140625,"y":-0.181243896484375},{"x":-0.1138916015625,"y":0.246551513671875},{"x":-0.30950927734375,"y":-0.380340576171875},{"x":-0.4051513671875,"y":-0.103118896484375},{"x":-0.57293701171875,"y":-0.382415771484375},{"x":-0.28167724609375,"y":-0.05401611328125},{"x":-0.350494384765625,"y":-0.236968994140625},{"x":0.06939697265625,"y":-0.23101806640625},{"x":-0.2379150390625,"y":0.002105712890625},{"x":-0.357147216796875,"y":0.00567626953125},{"x":-0.2044677734375,"y":-0.204071044921875},{"x":-0.0704345703125,"y":0.120086669921875},{"x":0.0494384765625,"y":0.2115478515625},{"x":-0.287353515625,"y":0.019622802734375},{"x":-0.08831787109375,"y":0.00946044921875},{"x":-0.42974853515625,"y":-0.20281982421875},{"x":-0.469482421875,"y":-0.24432373046875},{"x":-0.32574462890625,"y":-0.3231201171875},{"x":-0.5,"y":-0.18865966796875},{"x":-0.21942138671875,"y":0.09576416015625},{"x":0.010162353515625,"y":-0.10308837890625},{"x":-0.11004638671875,"y":-0.0645751953125},{"x":-0.388824462890625,"y":-0.15985107421875},{"x":-0.030029296875,"y":-0.04180908203125},{"x":-0.40240478515625,"y":-0.24212646484375},{"x":-0.00177001953125,"y":0.100830078125},{"x":-0.2515869140625,"y":-0.218994140625},{"x":-0.47637939453125,"y":-0.39923095703125},{"x":-0.2557373046875,"y":-0.197265625},{"x":-0.47003173828125,"y":-0.4342041015625},{"x":-0.52874755859375,"y":-0.23358154296875},{"x":-0.24908447265625,"y":-0.02783203125},{"x":-0.24072265625,"y":-0.04095458984375},{"x":0.09625244140625,"y":0.08819580078125},{"x":-0.314361572265625,"y":-0.48956298828125},{"x":-0.1864013671875,"y":0.1612548828125},{"x":-0.16937255859375,"y":-0.3671875},{"x":-0.277587890625,"y":-0.43890380859375},{"x":-0.2083740234375,"y":-0.08587646484375},{"x":-0.37701416015625,"y":-0.46923828125},{"x":-0.2222900390625,"y":-0.29095458984375},{"x":-0.8314208984375,"y":-0.382080078125},{"x":-0.132568359375,"y":-0.10113525390625},{"x":-0.783447265625,"y":-0.22882080078125},{"x":0.15509033203125,"y":-0.10723876953125},{"x":-0.20660400390625,"y":-0.4752197265625}],"optimisedCameraToObject":{"translation":{"x":0.02494350609187613,"y":0.05362577761438086,"z":0.40892054212059303},"rotation":{"quaternion":{"W":0.9944270048772733,"X":-0.0819821386133162,"Y":0.05961238286902726,"Z":0.02898663015734795}}},"cornersUsed":[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],"snapshotName":"img6.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/6194b9a1-d71c-4a88-9d65-79d4ce11b4d1/imgs/800x600/img6.png"},{"locationInObjectSpace":[{"x":0.0,"y":0.0,"z":0.0},{"x":0.014986000023782253,"y":0.0,"z":6.126001972006634E-5},{"x":0.029971998184919357,"y":0.0,"z":1.1309541878290474E-4},{"x":0.044957999140024185,"y":0.0,"z":1.5550620446447283E-4},{"x":0.059943996369838715,"y":0.0,"z":1.8849235493689775E-4},{"x":0.07492999732494354,"y":0.0,"z":2.120539138559252E-4},{"x":0.08991599828004837,"y":0.0,"z":2.261908375658095E-4},{"x":0.1049019992351532,"y":0.0,"z":2.3090315517038107E-4},{"x":0.11988800019025803,"y":0.0,"z":2.261908375658095E-4},{"x":0.13487400114536285,"y":0.0,"z":2.120539138559252E-4},{"x":0.17983201146125793,"y":0.0,"z":1.1309538240311667E-4},{"x":0.19481800496578217,"y":0.0,"z":6.12599978921935E-5},{"x":0.0,"y":0.014986000023782253,"z":1.8094005645252764E-4},{"x":0.014986000023782253,"y":0.014986000023782253,"z":2.4220006889663637E-4},{"x":0.029971998184919357,"y":0.014986000023782253,"z":2.940354752354324E-4},{"x":0.044957999140024185,"y":0.014986000023782253,"z":3.3644624636508524E-4},{"x":0.059943996369838715,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.07492999732494354,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.08991599828004837,"y":0.014986000023782253,"z":4.0713089401833713E-4},{"x":0.1049019992351532,"y":0.014986000023782253,"z":4.118432116229087E-4},{"x":0.11988800019025803,"y":0.014986000023782253,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.14986000955104828,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.1648460030555725,"y":0.014986000023782253,"z":3.3644624636508524E-4},{"x":0.17983201146125793,"y":0.014986000023782253,"z":2.9403544613160193E-4},{"x":0.19481800496578217,"y":0.014986000023782253,"z":2.4220005434472114E-4},{"x":0.0,"y":0.029971998184919357,"z":3.216711920686066E-4},{"x":0.014986000023782253,"y":0.029971998184919357,"z":3.8293120451271534E-4},{"x":0.029971998184919357,"y":0.029971998184919357,"z":4.3476661085151136E-4},{"x":0.044957999140024185,"y":0.029971998184919357,"z":4.771773819811642E-4},{"x":0.059943996369838715,"y":0.029971998184919357,"z":5.101635470055044E-4},{"x":0.07492999732494354,"y":0.029971998184919357,"z":5.337250768207014E-4},{"x":0.08991599828004837,"y":0.029971998184919357,"z":5.478620296344161E-4},{"x":0.1049019992351532,"y":0.029971998184919357,"z":5.525743472389877E-4},{"x":0.11988800019025803,"y":0.029971998184919357,"z":5.478620296344161E-4},{"x":0.13487400114536285,"y":0.029971998184919357,"z":5.337250768207014E-4},{"x":0.14986000955104828,"y":0.029971998184919357,"z":5.101635470055044E-4},{"x":0.1648460030555725,"y":0.029971998184919357,"z":4.771773819811642E-4},{"x":0.17983201146125793,"y":0.029971998184919357,"z":4.347665817476809E-4},{"x":0.19481800496578217,"y":0.029971998184919357,"z":3.8293120451271534E-4},{"x":0.0,"y":0.044957999140024185,"z":4.221934359520674E-4},{"x":0.014986000023782253,"y":0.044957999140024185,"z":4.8345347750000656E-4},{"x":0.029971998184919357,"y":0.044957999140024185,"z":5.352888838388026E-4},{"x":0.044957999140024185,"y":0.044957999140024185,"z":5.77699625864625E-4},{"x":0.059943996369838715,"y":0.044957999140024185,"z":6.106857908889651E-4},{"x":0.07492999732494354,"y":0.044957999140024185,"z":6.34247378911823E-4},{"x":0.08991599828004837,"y":0.044957999140024185,"z":6.483842735178769E-4},{"x":0.1049019992351532,"y":0.044957999140024185,"z":6.530965911224484E-4},{"x":0.11988800019025803,"y":0.044957999140024185,"z":6.483842735178769E-4},{"x":0.13487400114536285,"y":0.044957999140024185,"z":6.34247378911823E-4},{"x":0.14986000955104828,"y":0.044957999140024185,"z":6.106857908889651E-4},{"x":0.1648460030555725,"y":0.044957999140024185,"z":5.77699625864625E-4},{"x":0.17983201146125793,"y":0.044957999140024185,"z":5.352888256311417E-4},{"x":0.19481800496578217,"y":0.044957999140024185,"z":4.834534483961761E-4},{"x":0.0,"y":0.059943996369838715,"z":4.825067881029099E-4},{"x":0.014986000023782253,"y":0.059943996369838715,"z":5.437668296508491E-4},{"x":0.029971998184919357,"y":0.059943996369838715,"z":5.956022068858147E-4},{"x":0.044957999140024185,"y":0.059943996369838715,"z":6.38013007119298E-4},{"x":0.059943996369838715,"y":0.059943996369838715,"z":6.709991721436381E-4},{"x":0.07492999732494354,"y":0.059943996369838715,"z":6.945607019588351E-4},{"x":0.08991599828004837,"y":0.059943996369838715,"z":7.086976547725499E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":7.134099723771214E-4},{"x":0.11988800019025803,"y":0.059943996369838715,"z":7.086976547725499E-4},{"x":0.13487400114536285,"y":0.059943996369838715,"z":6.945607019588351E-4},{"x":0.14986000955104828,"y":0.059943996369838715,"z":6.709991721436381E-4},{"x":0.1648460030555725,"y":0.059943996369838715,"z":6.38013007119298E-4},{"x":0.17983201146125793,"y":0.059943996369838715,"z":5.956022068858147E-4},{"x":0.0,"y":0.07492999732494354,"z":5.026112776249647E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":5.638712900690734E-4},{"x":0.029971998184919357,"y":0.07492999732494354,"z":6.15706667304039E-4},{"x":0.044957999140024185,"y":0.07492999732494354,"z":6.581174675375223E-4}],"locationInImageSpace":[{"x":222.13949584960938,"y":431.1430969238281},{"x":247.08961486816406,"y":433.1695556640625},{"x":272.4103698730469,"y":435.83966064453125},{"x":297.3623352050781,"y":438.0246887207031},{"x":322.6748962402344,"y":440.802001953125},{"x":348.32318115234375,"y":443.2418518066406},{"x":373.95703125,"y":445.34478759765625},{"x":399.7608337402344,"y":447.74713134765625},{"x":425.56597900390625,"y":450.4377746582031},{"x":451.2131652832031,"y":452.951904296875},{"x":530.412109375,"y":460.6772766113281},{"x":556.5179443359375,"y":463.0693359375},{"x":218.6322021484375,"y":457.0274353027344},{"x":243.94566345214844,"y":459.4715576171875},{"x":268.93060302734375,"y":461.81182861328125},{"x":294.2588806152344,"y":464.4088134765625},{"x":319.93408203125,"y":466.8125915527344},{"x":345.5870666503906,"y":469.3528747558594},{"x":371.2587585449219,"y":471.8705749511719},{"x":397.2930603027344,"y":474.2928771972656},{"x":423.0814208984375,"y":476.8673400878906},{"x":449.2432861328125,"y":479.835205078125},{"x":475.5089416503906,"y":482.2021484375},{"x":502.0000305175781,"y":484.7847595214844},{"x":528.7536010742188,"y":487.6080322265625},{"x":555.7369384765625,"y":489.9656066894531},{"x":215.21133422851562,"y":483.25360107421875},{"x":240.20974731445312,"y":485.9375305175781},{"x":265.75531005859375,"y":488.3580322265625},{"x":291.3315124511719,"y":490.9187927246094},{"x":316.96490478515625,"y":493.3309326171875},{"x":342.8902893066406,"y":495.9566955566406},{"x":368.5675048828125,"y":498.50140380859375},{"x":394.97003173828125,"y":501.00506591796875},{"x":420.8179931640625,"y":504.25469970703125},{"x":447.2728576660156,"y":506.49560546875},{"x":473.85687255859375,"y":508.9660339355469},{"x":500.3348388671875,"y":511.9707946777344},{"x":527.039794921875,"y":514.7474365234375},{"x":553.86572265625,"y":517.3475952148438},{"x":211.35760498046875,"y":509.98663330078125},{"x":236.74737548828125,"y":512.7261962890625},{"x":262.0970458984375,"y":514.784912109375},{"x":288.2937316894531,"y":517.8259887695312},{"x":313.9721984863281,"y":520.137451171875},{"x":339.7116394042969,"y":523.0728149414062},{"x":365.8631286621094,"y":525.3944702148438},{"x":392.9411926269531,"y":528.1316528320312},{"x":418.9649658203125,"y":531.1676025390625},{"x":445.5552062988281,"y":533.8572387695312},{"x":471.81744384765625,"y":536.3668823242188},{"x":498.6197814941406,"y":539.586181640625},{"x":525.3284912109375,"y":542.0789794921875},{"x":552.7296752929688,"y":545.216552734375},{"x":207.3752899169922,"y":537.0401611328125},{"x":233.1719512939453,"y":539.618408203125},{"x":258.9568786621094,"y":542.266845703125},{"x":284.7712707519531,"y":544.8857421875},{"x":311.0459899902344,"y":547.4781494140625},{"x":337.0948486328125,"y":550.4463500976562},{"x":363.7440185546875,"y":552.9750366210938},{"x":390.0353088378906,"y":556.1590576171875},{"x":416.89599609375,"y":558.62841796875},{"x":443.1396484375,"y":561.8655395507812},{"x":469.9715881347656,"y":564.3829345703125},{"x":496.9312438964844,"y":567.5547485351562},{"x":523.8299560546875,"y":570.4555053710938},{"x":203.4457244873047,"y":564.3900756835938},{"x":229.71998596191406,"y":566.9561767578125},{"x":255.151123046875,"y":569.766845703125},{"x":281.8880615234375,"y":572.3499145507812}],"reprojectionErrors":[{"x":-0.0081634521484375,"y":0.013641357421875},{"x":0.05609130859375,"y":0.382110595703125},{"x":-0.14263916015625,"y":0.116912841796875},{"x":0.137542724609375,"y":0.347015380859375},{"x":0.169769287109375,"y":-0.00469970703125},{"x":-0.0185546875,"y":-0.008270263671875},{"x":-0.074615478515625,"y":0.33599853515625},{"x":-0.18023681640625,"y":0.39208984375},{"x":-0.164093017578125,"y":0.171295166015625},{"x":0.135833740234375,"y":0.13873291015625},{"x":-0.0075836181640625,"y":-0.0611572265625},{"x":-0.144439697265625,"y":-0.03656005859375},{"x":0.15625,"y":0.10284423828125},{"x":0.225189208984375,"y":-0.003204345703125},{"x":0.061248779296875,"y":0.095458984375},{"x":0.0362548828125,"y":0.0693359375},{"x":0.11187744140625,"y":0.077789306640625},{"x":-0.0531005859375,"y":0.193939208984375},{"x":0.152557373046875,"y":0.170440673828125},{"x":0.112213134765625,"y":-0.233642578125},{"x":0.098388671875,"y":-0.02374267578125},{"x":-0.007781982421875,"y":-0.01611328125},{"x":-0.24029541015625,"y":-0.235504150390625},{"x":-0.56365966796875,"y":0.0247802734375},{"x":-0.1612701416015625,"y":-0.123321533203125},{"x":0.1837615966796875,"y":-0.2626953125},{"x":0.09210205078125,"y":-0.126617431640625},{"x":0.082855224609375,"y":-0.1185302734375},{"x":0.131988525390625,"y":0.050750732421875},{"x":0.00738525390625,"y":0.01922607421875},{"x":0.25189208984375,"y":0.081878662109375},{"x":-0.10528564453125,"y":0.19891357421875},{"x":0.218536376953125,"y":-0.416351318359375},{"x":0.06463623046875,"y":-0.0089111328125},{"x":-0.086334228515625,"y":0.1832275390625},{"x":0.003692626953125,"y":-0.1444091796875},{"x":0.004638671875,"y":-0.22906494140625},{"x":0.0255126953125,"y":-0.12213134765625},{"x":0.0475311279296875,"y":-0.322601318359375},{"x":0.1728057861328125,"y":-0.4395751953125},{"x":0.450103759765625,"y":0.1373291015625},{"x":-0.005035400390625,"y":-0.25469970703125},{"x":0.175201416015625,"y":0.09649658203125},{"x":0.414306640625,"y":-0.1622314453125},{"x":0.36395263671875,"y":0.20697021484375},{"x":-0.48760986328125,"y":0.1751708984375},{"x":-0.156768798828125,"y":-0.14056396484375},{"x":-0.261383056640625,"y":-0.09490966796875},{"x":0.095916748046875,"y":0.146240234375},{"x":0.0499267578125,"y":-0.3065185546875},{"x":0.23748779296875,"y":-0.01666259765625},{"x":-0.1246337890625,"y":-0.355224609375},{"x":0.3119659423828125,"y":-0.45660400390625},{"x":0.206817626953125,"y":-0.33203125},{"x":0.226898193359375,"y":-0.263427734375},{"x":0.3336181640625,"y":-0.1507568359375},{"x":0.09881591796875,"y":0.00311279296875},{"x":0.21142578125,"y":-0.20367431640625},{"x":-0.152008056640625,"y":0.04449462890625},{"x":-0.03045654296875,"y":-0.34698486328125},{"x":-0.348358154296875,"y":-0.0078125},{"x":0.083648681640625,"y":-0.4200439453125},{"x":0.06317138671875,"y":-0.0958251953125},{"x":0.053741455078125,"y":-0.40899658203125},{"x":0.2471923828125,"y":-0.43377685546875},{"x":0.44793701171875,"y":-0.48455810546875},{"x":0.046722412109375,"y":-0.26519775390625},{"x":-0.02734375,"y":-0.04156494140625}],"optimisedCameraToObject":{"translation":{"x":-0.09503314074753205,"y":0.061091070760697905,"z":0.3998708337628306},"rotation":{"quaternion":{"W":0.9938342640666757,"X":-0.09762373999594466,"Y":0.027240215726221883,"Z":0.04495588508128989}}},"cornersUsed":[true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],"snapshotName":"img7.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/6194b9a1-d71c-4a88-9d65-79d4ce11b4d1/imgs/800x600/img7.png"},{"locationInObjectSpace":[{"x":0.0,"y":0.0,"z":0.0},{"x":0.014986000023782253,"y":0.0,"z":6.126001972006634E-5},{"x":0.029971998184919357,"y":0.0,"z":1.1309541878290474E-4},{"x":0.044957999140024185,"y":0.0,"z":1.5550620446447283E-4},{"x":0.059943996369838715,"y":0.0,"z":1.8849235493689775E-4},{"x":0.07492999732494354,"y":0.0,"z":2.120539138559252E-4},{"x":0.11988800019025803,"y":0.0,"z":2.261908375658095E-4},{"x":0.13487400114536285,"y":0.0,"z":2.120539138559252E-4},{"x":0.14986000955104828,"y":0.0,"z":1.8849235493689775E-4},{"x":0.1648460030555725,"y":0.0,"z":1.555061899125576E-4},{"x":0.17983201146125793,"y":0.0,"z":1.1309538240311667E-4},{"x":0.19481800496578217,"y":0.0,"z":6.12599978921935E-5},{"x":0.0,"y":0.014986000023782253,"z":1.8094005645252764E-4},{"x":0.014986000023782253,"y":0.014986000023782253,"z":2.4220006889663637E-4},{"x":0.029971998184919357,"y":0.014986000023782253,"z":2.940354752354324E-4},{"x":0.044957999140024185,"y":0.014986000023782253,"z":3.3644624636508524E-4},{"x":0.059943996369838715,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.07492999732494354,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.08991599828004837,"y":0.014986000023782253,"z":4.0713089401833713E-4},{"x":0.1049019992351532,"y":0.014986000023782253,"z":4.118432116229087E-4},{"x":0.11988800019025803,"y":0.014986000023782253,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.14986000955104828,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.1648460030555725,"y":0.014986000023782253,"z":3.3644624636508524E-4},{"x":0.17983201146125793,"y":0.014986000023782253,"z":2.9403544613160193E-4},{"x":0.19481800496578217,"y":0.014986000023782253,"z":2.4220005434472114E-4},{"x":0.0,"y":0.029971998184919357,"z":3.216711920686066E-4},{"x":0.014986000023782253,"y":0.029971998184919357,"z":3.8293120451271534E-4},{"x":0.029971998184919357,"y":0.029971998184919357,"z":4.3476661085151136E-4},{"x":0.044957999140024185,"y":0.029971998184919357,"z":4.771773819811642E-4},{"x":0.059943996369838715,"y":0.029971998184919357,"z":5.101635470055044E-4},{"x":0.1049019992351532,"y":0.029971998184919357,"z":5.525743472389877E-4},{"x":0.11988800019025803,"y":0.029971998184919357,"z":5.478620296344161E-4},{"x":0.13487400114536285,"y":0.029971998184919357,"z":5.337250768207014E-4},{"x":0.14986000955104828,"y":0.029971998184919357,"z":5.101635470055044E-4},{"x":0.1648460030555725,"y":0.029971998184919357,"z":4.771773819811642E-4},{"x":0.17983201146125793,"y":0.029971998184919357,"z":4.347665817476809E-4},{"x":0.0,"y":0.044957999140024185,"z":4.221934359520674E-4},{"x":0.014986000023782253,"y":0.044957999140024185,"z":4.8345347750000656E-4},{"x":0.029971998184919357,"y":0.044957999140024185,"z":5.352888838388026E-4},{"x":0.044957999140024185,"y":0.044957999140024185,"z":5.77699625864625E-4},{"x":0.059943996369838715,"y":0.044957999140024185,"z":6.106857908889651E-4},{"x":0.1049019992351532,"y":0.044957999140024185,"z":6.530965911224484E-4},{"x":0.11988800019025803,"y":0.044957999140024185,"z":6.483842735178769E-4},{"x":0.13487400114536285,"y":0.044957999140024185,"z":6.34247378911823E-4},{"x":0.14986000955104828,"y":0.044957999140024185,"z":6.106857908889651E-4},{"x":0.1648460030555725,"y":0.044957999140024185,"z":5.77699625864625E-4},{"x":0.0,"y":0.059943996369838715,"z":4.825067881029099E-4},{"x":0.014986000023782253,"y":0.059943996369838715,"z":5.437668296508491E-4},{"x":0.029971998184919357,"y":0.059943996369838715,"z":5.956022068858147E-4},{"x":0.044957999140024185,"y":0.059943996369838715,"z":6.38013007119298E-4},{"x":0.059943996369838715,"y":0.059943996369838715,"z":6.709991721436381E-4},{"x":0.07492999732494354,"y":0.059943996369838715,"z":6.945607019588351E-4},{"x":0.08991599828004837,"y":0.059943996369838715,"z":7.086976547725499E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":7.134099723771214E-4},{"x":0.11988800019025803,"y":0.059943996369838715,"z":7.086976547725499E-4},{"x":0.13487400114536285,"y":0.059943996369838715,"z":6.945607019588351E-4},{"x":0.14986000955104828,"y":0.059943996369838715,"z":6.709991721436381E-4},{"x":0.1648460030555725,"y":0.059943996369838715,"z":6.38013007119298E-4},{"x":0.0,"y":0.07492999732494354,"z":5.026112776249647E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":5.638712900690734E-4},{"x":0.029971998184919357,"y":0.07492999732494354,"z":6.15706667304039E-4},{"x":0.044957999140024185,"y":0.07492999732494354,"z":6.581174675375223E-4},{"x":0.059943996369838715,"y":0.07492999732494354,"z":6.911036325618625E-4},{"x":0.07492999732494354,"y":0.07492999732494354,"z":7.146651623770595E-4},{"x":0.08991599828004837,"y":0.07492999732494354,"z":7.288021151907742E-4},{"x":0.1049019992351532,"y":0.07492999732494354,"z":7.335144327953458E-4},{"x":0.11988800019025803,"y":0.07492999732494354,"z":7.288021151907742E-4},{"x":0.13487400114536285,"y":0.07492999732494354,"z":7.146651623770595E-4},{"x":0.14986000955104828,"y":0.07492999732494354,"z":6.911036325618625E-4},{"x":0.1648460030555725,"y":0.07492999732494354,"z":6.581174675375223E-4}],"locationInImageSpace":[{"x":97.84282684326172,"y":422.87786865234375},{"x":122.55508422851562,"y":424.51580810546875},{"x":147.45962524414062,"y":426.4405212402344},{"x":172.6173553466797,"y":427.9742431640625},{"x":197.1529083251953,"y":429.7621765136719},{"x":222.10316467285156,"y":431.2271423339844},{"x":296.99066162109375,"y":436.363037109375},{"x":321.7858581542969,"y":437.9753112792969},{"x":346.895263671875,"y":439.98809814453125},{"x":371.7539978027344,"y":441.58612060546875},{"x":396.60595703125,"y":443.326904296875},{"x":421.41583251953125,"y":444.7763977050781},{"x":93.94066619873047,"y":448.1707458496094},{"x":119.23118591308594,"y":450.1282653808594},{"x":144.11802673339844,"y":451.6677551269531},{"x":169.38113403320312,"y":453.3380126953125},{"x":194.2753143310547,"y":455.2219543457031},{"x":219.2666473388672,"y":457.1260070800781},{"x":244.6208038330078,"y":458.4690246582031},{"x":269.46893310546875,"y":460.2243957519531},{"x":294.2489318847656,"y":461.74334716796875},{"x":319.79296875,"y":463.77886962890625},{"x":344.4634704589844,"y":465.078857421875},{"x":369.88360595703125,"y":467.335205078125},{"x":394.8797912597656,"y":468.8085021972656},{"x":420.0334777832031,"y":470.8401184082031},{"x":90.39481353759766,"y":474.13116455078125},{"x":115.59004211425781,"y":475.79559326171875},{"x":140.68472290039062,"y":477.4100341796875},{"x":165.986083984375,"y":479.2303161621094},{"x":191.6599884033203,"y":480.64727783203125},{"x":267.02374267578125,"y":485.9649963378906},{"x":292.1463317871094,"y":487.7886657714844},{"x":317.6906433105469,"y":489.7611083984375},{"x":342.8421325683594,"y":491.1478576660156},{"x":367.86181640625,"y":492.95147705078125},{"x":393.2126770019531,"y":494.6700439453125},{"x":86.46893310546875,"y":500.12774658203125},{"x":111.8459701538086,"y":501.8811950683594},{"x":137.5501251220703,"y":503.6767578125},{"x":162.7816619873047,"y":505.1965026855469},{"x":188.21914672851562,"y":507.1904602050781},{"x":264.4253234863281,"y":512.101318359375},{"x":289.9678039550781,"y":514.0277099609375},{"x":315.3503723144531,"y":515.2965087890625},{"x":340.2439270019531,"y":516.8562622070312},{"x":365.9374084472656,"y":519.3036499023438},{"x":83.02569580078125,"y":526.3847045898438},{"x":108.28988647460938,"y":528.310546875},{"x":133.84532165527344,"y":530.151611328125},{"x":159.54530334472656,"y":531.6204833984375},{"x":184.80880737304688,"y":533.4754028320312},{"x":210.65643310546875,"y":535.2401123046875},{"x":236.05018615722656,"y":537.1189575195312},{"x":261.7508544921875,"y":538.5922241210938},{"x":287.49884033203125,"y":540.229736328125},{"x":312.92236328125,"y":542.0396728515625},{"x":338.5193786621094,"y":544.0791625976562},{"x":364.02886962890625,"y":545.6019287109375},{"x":78.88117980957031,"y":553.3230590820312},{"x":104.1993637084961,"y":555.2335205078125},{"x":130.07568359375,"y":556.3359375},{"x":156.05520629882812,"y":558.6995239257812},{"x":181.76637268066406,"y":559.9039306640625},{"x":207.87362670898438,"y":561.921630859375},{"x":233.38087463378906,"y":563.9199829101562},{"x":259.30169677734375,"y":565.429931640625},{"x":284.8538513183594,"y":567.0555419921875},{"x":310.23675537109375,"y":569.255615234375},{"x":336.51708984375,"y":571.003662109375},{"x":362.0216369628906,"y":573.0611572265625}],"reprojectionErrors":[{"x":0.0185546875,"y":0.15985107421875},{"x":0.18563079833984375,"y":0.21630859375},{"x":0.15521240234375,"y":-0.014801025390625},{"x":-0.131927490234375,"y":0.144439697265625},{"x":0.201263427734375,"y":0.04888916015625},{"x":0.119598388671875,"y":0.27587890625},{"x":-0.272491455078125,"y":-0.02789306640625},{"x":-0.227996826171875,"y":0.0657958984375},{"x":-0.164947509765625,"y":0.017120361328125},{"x":-0.04644775390625,"y":0.26019287109375},{"x":0.33042144775390625,"y":0.1531982421875},{"x":0.08600616455078125,"y":-0.09857177734375},{"x":0.23992919921875,"y":0.067474365234375},{"x":0.01397705078125,"y":0.1026611328125},{"x":0.1550445556640625,"y":-0.0758056640625},{"x":0.1987762451171875,"y":-0.274261474609375},{"x":-0.118804931640625,"y":0.08856201171875},{"x":0.072906494140625,"y":0.039398193359375},{"x":0.337677001953125,"y":0.2271728515625},{"x":-0.1549072265625,"y":-0.101043701171875},{"x":0.23443603515625,"y":0.3070068359375},{"x":-0.11578369140625,"y":-0.240447998046875},{"x":-0.0301513671875,"y":-0.00390625},{"x":-0.0885009765625,"y":-0.324615478515625},{"x":0.20944976806640625,"y":-0.178436279296875},{"x":0.23180389404296875,"y":-0.125457763671875},{"x":0.3492584228515625,"y":-0.0220947265625},{"x":0.2563323974609375,"y":-0.124114990234375},{"x":-0.2111053466796875,"y":0.177825927734375},{"x":0.050079345703125,"y":0.02166748046875},{"x":0.143463134765625,"y":-0.0794677734375},{"x":0.1231689453125,"y":-0.06695556640625},{"x":0.025665283203125,"y":-0.05743408203125},{"x":0.38928985595703125,"y":-0.189056396484375},{"x":0.40618896484375,"y":-0.21307373046875},{"x":0.0904083251953125,"y":-0.27825927734375},{"x":0.2434539794921875,"y":-0.066497802734375},{"x":0.135345458984375,"y":-0.03192138671875},{"x":-0.01513671875,"y":-0.219482421875},{"x":0.0010986328125,"y":0.2523193359375},{"x":0.514892578125,"y":0.43511962890625},{"x":0.239044189453125,"y":-0.267578125},{"x":0.3298187255859375,"y":-0.36932373046875},{"x":0.1955718994140625,"y":-0.0931396484375},{"x":0.495697021484375,"y":-0.20111083984375},{"x":0.211395263671875,"y":-0.2169189453125},{"x":0.382415771484375,"y":-0.34478759765625},{"x":0.23126220703125,"y":0.001220703125},{"x":0.2227783203125,"y":-0.27764892578125},{"x":0.312225341796875,"y":-0.037109375},{"x":0.23606109619140625,"y":-0.27899169921875},{"x":0.6797561645507812,"y":-0.43499755859375},{"x":0.55950927734375,"y":0.21929931640625},{"x":0.3320770263671875,"y":-0.38519287109375},{"x":0.3708038330078125,"y":0.17193603515625},{"x":0.013092041015625,"y":-0.08160400390625},{"x":0.2568206787109375,"y":-0.31304931640625},{"x":0.090240478515625,"y":-0.05322265625},{"x":0.29742431640625,"y":0.0938720703125},{"x":0.456207275390625,"y":-0.57427978515625}],"optimisedCameraToObject":{"translation":{"x":-0.1716768890260018,"y":0.05747554445976176,"z":0.40812645793416547},"rotation":{"quaternion":{"W":0.994710024900662,"X":-0.09705763106534851,"Y":-0.0012689042340219814,"Z":0.0336180382555554}}},"cornersUsed":[true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,false,true,true,true,true,true,false,false,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,false,false,true,true,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],"snapshotName":"img8.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/6194b9a1-d71c-4a88-9d65-79d4ce11b4d1/imgs/800x600/img8.png"},{"locationInObjectSpace":[{"x":0.0,"y":0.0,"z":0.0},{"x":0.07492999732494354,"y":0.0,"z":2.120539138559252E-4},{"x":0.08991599828004837,"y":0.0,"z":2.261908375658095E-4},{"x":0.07492999732494354,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.13487400114536285,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.14986000955104828,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.059943996369838715,"y":0.029971998184919357,"z":5.101635470055044E-4},{"x":0.1648460030555725,"y":0.029971998184919357,"z":4.771773819811642E-4},{"x":0.014986000023782253,"y":0.044957999140024185,"z":4.8345347750000656E-4},{"x":0.029971998184919357,"y":0.044957999140024185,"z":5.352888838388026E-4},{"x":0.044957999140024185,"y":0.044957999140024185,"z":5.77699625864625E-4},{"x":0.059943996369838715,"y":0.044957999140024185,"z":6.106857908889651E-4},{"x":0.17983201146125793,"y":0.044957999140024185,"z":5.352888256311417E-4},{"x":0.19481800496578217,"y":0.044957999140024185,"z":4.834534483961761E-4},{"x":0.0,"y":0.059943996369838715,"z":4.825067881029099E-4},{"x":0.014986000023782253,"y":0.059943996369838715,"z":5.437668296508491E-4},{"x":0.029971998184919357,"y":0.059943996369838715,"z":5.956022068858147E-4},{"x":0.044957999140024185,"y":0.059943996369838715,"z":6.38013007119298E-4},{"x":0.059943996369838715,"y":0.059943996369838715,"z":6.709991721436381E-4},{"x":0.07492999732494354,"y":0.059943996369838715,"z":6.945607019588351E-4},{"x":0.19481800496578217,"y":0.059943996369838715,"z":5.437667714431882E-4},{"x":0.0,"y":0.07492999732494354,"z":5.026112776249647E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":5.638712900690734E-4},{"x":0.059943996369838715,"y":0.07492999732494354,"z":6.911036325618625E-4},{"x":0.07492999732494354,"y":0.07492999732494354,"z":7.146651623770595E-4},{"x":0.08991599828004837,"y":0.07492999732494354,"z":7.288021151907742E-4},{"x":0.19481800496578217,"y":0.07492999732494354,"z":5.638712318614125E-4},{"x":0.0,"y":0.08991599828004837,"z":4.825068172067404E-4},{"x":0.07492999732494354,"y":0.08991599828004837,"z":6.945607019588351E-4},{"x":0.08991599828004837,"y":0.08991599828004837,"z":7.086976547725499E-4},{"x":0.17983201146125793,"y":0.08991599828004837,"z":5.956022068858147E-4},{"x":0.19481800496578217,"y":0.08991599828004837,"z":5.437668296508491E-4},{"x":0.0,"y":0.1049019992351532,"z":4.2219346505589783E-4},{"x":0.07492999732494354,"y":0.1049019992351532,"z":6.34247378911823E-4},{"x":0.08991599828004837,"y":0.1049019992351532,"z":6.483842735178769E-4},{"x":0.13487400114536285,"y":0.1049019992351532,"z":6.34247378911823E-4},{"x":0.0,"y":0.11988800019025803,"z":3.216711920686066E-4},{"x":0.044957999140024185,"y":0.11988800019025803,"z":4.771774110849947E-4},{"x":0.059943996369838715,"y":0.11988800019025803,"z":5.101635470055044E-4},{"x":0.07492999732494354,"y":0.11988800019025803,"z":5.337251350283623E-4},{"x":0.08991599828004837,"y":0.11988800019025803,"z":5.478620296344161E-4},{"x":0.1049019992351532,"y":0.11988800019025803,"z":5.525743472389877E-4},{"x":0.11988800019025803,"y":0.11988800019025803,"z":5.478620296344161E-4},{"x":0.13487400114536285,"y":0.11988800019025803,"z":5.337251350283623E-4},{"x":0.0,"y":0.13487400114536285,"z":1.8094004190061241E-4},{"x":0.044957999140024185,"y":0.13487400114536285,"z":3.3644624636508524E-4},{"x":0.059943996369838715,"y":0.13487400114536285,"z":3.694324113894254E-4},{"x":0.07492999732494354,"y":0.13487400114536285,"z":3.929939412046224E-4},{"x":0.08991599828004837,"y":0.13487400114536285,"z":4.0713089401833713E-4},{"x":0.1049019992351532,"y":0.13487400114536285,"z":4.1184318251907825E-4},{"x":0.11988800019025803,"y":0.13487400114536285,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.13487400114536285,"z":3.929939412046224E-4},{"x":0.14986000955104828,"y":0.13487400114536285,"z":3.6943238228559494E-4},{"x":0.1648460030555725,"y":0.13487400114536285,"z":3.3644624636508524E-4}],"locationInImageSpace":[{"x":211.62319946289062,"y":49.75334548950195},{"x":330.7273254394531,"y":55.807430267333984},{"x":354.6754150390625,"y":57.142311096191406},{"x":329.8480224609375,"y":80.88839721679688},{"x":425.24554443359375,"y":85.95977783203125},{"x":448.8799743652344,"y":87.05635833740234},{"x":304.675537109375,"y":104.30259704589844},{"x":471.2537536621094,"y":113.23106384277344},{"x":233.49063110351562,"y":124.86400604248047},{"x":256.7809143066406,"y":126.15347290039062},{"x":280.40118408203125,"y":127.8636474609375},{"x":304.170654296875,"y":129.15443420410156},{"x":493.8426513671875,"y":139.5039825439453},{"x":517.3447875976562,"y":141.0245819091797},{"x":209.33030700683594,"y":148.22450256347656},{"x":233.08006286621094,"y":149.65673828125},{"x":255.98855590820312,"y":150.6620635986328},{"x":279.4213562011719,"y":152.06112670898438},{"x":302.8224792480469,"y":153.29010009765625},{"x":325.906982421875,"y":154.30690002441406},{"x":515.0789184570312,"y":164.3628692626953},{"x":208.97988891601562,"y":172.0952606201172},{"x":232.08619689941406,"y":173.11407470703125},{"x":301.134765625,"y":176.75953674316406},{"x":324.835693359375,"y":178.90171813964844},{"x":348.6659240722656,"y":179.3126220703125},{"x":513.89599609375,"y":188.8831024169922},{"x":208.35125732421875,"y":195.9110565185547},{"x":324.3608093261719,"y":202.7718048095703},{"x":347.6166076660156,"y":203.5250701904297},{"x":487.84197998046875,"y":211.92428588867188},{"x":511.15313720703125,"y":212.63328552246094},{"x":207.59373474121094,"y":219.13351440429688},{"x":323.6251220703125,"y":225.7687530517578},{"x":346.3441467285156,"y":227.24293518066406},{"x":416.15435791015625,"y":231.49623107910156},{"x":206.97398376464844,"y":242.83062744140625},{"x":275.6189270019531,"y":246.7625274658203},{"x":299.3507385253906,"y":247.76251220703125},{"x":322.24310302734375,"y":249.9279022216797},{"x":345.0571594238281,"y":250.78805541992188},{"x":368.6973876953125,"y":252.30880737304688},{"x":390.981201171875,"y":253.19793701171875},{"x":414.1044921875,"y":254.4295654296875},{"x":206.0825653076172,"y":265.8180847167969},{"x":274.9717712402344,"y":270.03570556640625},{"x":298.13336181640625,"y":271.2489318847656},{"x":320.99322509765625,"y":272.6984558105469},{"x":344.21868896484375,"y":274.0804748535156},{"x":366.3365478515625,"y":275.9344787597656},{"x":390.3086242675781,"y":276.9749755859375},{"x":413.4562072753906,"y":277.8744201660156},{"x":436.91168212890625,"y":279.8505554199219},{"x":459.97607421875,"y":280.4434509277344}],"reprojectionErrors":[{"x":-0.0888214111328125,"y":0.22574615478515625},{"x":0.31658935546875,"y":0.39099884033203125},{"x":0.252044677734375,"y":0.34527587890625},{"x":0.533294677734375,"y":0.3132781982421875},{"x":0.87945556640625,"y":0.563873291015625},{"x":0.52685546875,"y":-0.2760467529296875},{"x":0.184234619140625,"y":0.246673583984375},{"x":-0.10089111328125,"y":-0.5592193603515625},{"x":0.562286376953125,"y":0.3062591552734375},{"x":0.505615234375,"y":0.0255126953125},{"x":0.222930908203125,"y":-0.1722412109375},{"x":-0.014984130859375,"y":-0.040740966796875}],"optimisedCameraToObject":{"translation":{"x":-0.10769477090265069,"y":-0.17358837342765274,"z":0.425228086649185},"rotation":{"quaternion":{"W":0.9974146019023875,"X":0.0642355500384844,"Y":0.013191232177026698,"Z":0.02939213188605033}}},"cornersUsed":[true,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,false,false,false,true,true,false,false,false,false,false,false,false,true,false,false,false,false,false,false,true,false,false,false,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,false,false,true,true,true,false,false,false,false,false,false,true,true,false,false,false,false,true,true,false,false,false,false,false,true,true,true,false,false,false,false,true,true,false,false,true,false,false,false,false,true,false,false,true,true,true,true,true,true,true,false,false,false,false,true,false,false,true,true,true,true,true,true,true,true,true,false,false],"snapshotName":"img9.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/6194b9a1-d71c-4a88-9d65-79d4ce11b4d1/imgs/800x600/img9.png"},{"locationInObjectSpace":[{"x":0.07492999732494354,"y":0.0,"z":2.120539138559252E-4},{"x":0.07492999732494354,"y":0.014986000955104828,"z":3.9299397030845284E-4},{"x":0.08991599828004837,"y":0.014986000955104828,"z":4.0713089401833713E-4},{"x":0.0,"y":0.029971998184919357,"z":3.216711920686066E-4},{"x":0.014986000023782253,"y":0.029971998184919357,"z":3.8293120451271534E-4},{"x":0.029971998184919357,"y":0.029971998184919357,"z":4.3476661085151136E-4},{"x":0.1049019992351532,"y":0.029971998184919357,"z":5.525743472389877E-4},{"x":0.11988800019025803,"y":0.029971998184919357,"z":5.478620296344161E-4},{"x":0.13487400114536285,"y":0.029971998184919357,"z":5.337250768207014E-4},{"x":0.0,"y":0.044957999140024185,"z":4.221934359520674E-4},{"x":0.014986000023782253,"y":0.044957999140024185,"z":4.8345347750000656E-4},{"x":0.11988800019025803,"y":0.044957999140024185,"z":6.483842735178769E-4},{"x":0.13487400114536285,"y":0.044957999140024185,"z":6.34247378911823E-4},{"x":0.0,"y":0.05994400009512901,"z":4.825068172067404E-4},{"x":0.014986000023782253,"y":0.05994400009512901,"z":5.437668296508491E-4},{"x":0.0,"y":0.07492999732494354,"z":5.026112776249647E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":5.638712900690734E-4},{"x":0.029971998184919357,"y":0.07492999732494354,"z":6.15706667304039E-4},{"x":0.0,"y":0.08991600573062897,"z":4.825067881029099E-4},{"x":0.014986000023782253,"y":0.08991600573062897,"z":5.437668296508491E-4},{"x":0.029971998184919357,"y":0.08991600573062897,"z":5.956022068858147E-4},{"x":0.044957999140024185,"y":0.08991600573062897,"z":6.38013007119298E-4},{"x":0.059943996369838715,"y":0.08991600573062897,"z":6.709991721436381E-4},{"x":0.19481800496578217,"y":0.08991600573062897,"z":5.437667714431882E-4},{"x":0.059943996369838715,"y":0.1049019992351532,"z":6.10685849096626E-4}],"locationInImageSpace":[{"x":177.6923065185547,"y":87.88477325439453},{"x":176.89149475097656,"y":110.04129791259766},{"x":198.8343048095703,"y":111.95526885986328},{"x":66.76722717285156,"y":124.79859161376953},{"x":88.49336242675781,"y":126.2625732421875},{"x":110.4188003540039,"y":128.04971313476562},{"x":219.65867614746094,"y":135.93443298339844},{"x":241.41677856445312,"y":137.29977416992188},{"x":262.87835693359375,"y":138.56834411621094},{"x":65.88702392578125,"y":147.4149932861328},{"x":87.72826385498047,"y":148.9704132080078},{"x":239.9424591064453,"y":159.38536071777344},{"x":261.9931335449219,"y":160.84185791015625},{"x":65.41671752929688,"y":169.93096923828125},{"x":86.78102111816406,"y":171.22677612304688},{"x":64.75102996826172,"y":191.46888732910156},{"x":86.07681274414062,"y":192.89820861816406},{"x":108.11408996582031,"y":194.50506591796875},{"x":63.51912307739258,"y":213.42481994628906},{"x":85.22037506103516,"y":214.4067840576172},{"x":107.07347106933594,"y":216.14088439941406},{"x":128.87265014648438,"y":217.81137084960938},{"x":150.26353454589844,"y":219.19802856445312},{"x":344.6430358886719,"y":233.27920532226562},{"x":149.02142333984375,"y":240.63502502441406}],"reprojectionErrors":[],"optimisedCameraToObject":{"translation":{"x":-0.2148774261106736,"y":-0.16830717920128377,"z":0.4628074906781318},"rotation":{"quaternion":{"W":0.9986332468756298,"X":0.03868154330409173,"Y":0.0023287023290596356,"Z":0.0350706941435949}}},"cornersUsed":[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,true,true,false,false,false,false,false,false,true,true,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,true,false,false,false,false,true,false,false,false,false,false,false,false,false,false],"snapshotName":"img10.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/6194b9a1-d71c-4a88-9d65-79d4ce11b4d1/imgs/800x600/img10.png"},{"locationInObjectSpace":[{"x":0.07492999732494354,"y":0.0,"z":2.120539138559252E-4},{"x":0.059943996369838715,"y":0.014985999092459679,"z":3.694324113894254E-4},{"x":0.044957999140024185,"y":0.029972000047564507,"z":4.771774110849947E-4},{"x":0.029971998184919357,"y":0.04495799541473389,"z":5.352888256311417E-4},{"x":0.044957999140024185,"y":0.04495799541473389,"z":5.77699625864625E-4},{"x":0.1648460030555725,"y":0.04495799541473389,"z":5.77699625864625E-4},{"x":0.0,"y":0.059943996369838715,"z":4.825067881029099E-4},{"x":0.014986000023782253,"y":0.059943996369838715,"z":5.437668296508491E-4},{"x":0.17983201146125793,"y":0.059943996369838715,"z":5.956022068858147E-4},{"x":0.0,"y":0.07492999732494354,"z":5.026112776249647E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":5.638712900690734E-4},{"x":0.0,"y":0.08991599828004837,"z":4.825068172067404E-4},{"x":0.014986000023782253,"y":0.08991599828004837,"z":5.437668296508491E-4}],"locationInImageSpace":[{"x":612.5164794921875,"y":83.97783660888672},{"x":588.1634521484375,"y":106.48944854736328},{"x":564.2515258789062,"y":128.6604461669922},{"x":540.3003540039062,"y":150.8304443359375},{"x":562.3324584960938,"y":150.9224395751953},{"x":747.6289672851562,"y":153.86207580566406},{"x":495.2878723144531,"y":172.3404998779297},{"x":516.8853759765625,"y":172.35153198242188},{"x":770.1724853515625,"y":177.85638427734375},{"x":493.84075927734375,"y":194.00152587890625},{"x":515.5916748046875,"y":193.80349731445312},{"x":492.4561462402344,"y":214.55479431152344},{"x":514.7694702148438,"y":215.21401977539062}],"reprojectionErrors":[],"optimisedCameraToObject":{"translation":{"x":0.08099629744315939,"y":-0.16887413368639062,"z":0.47101247098383975},"rotation":{"quaternion":{"W":0.9951499262418815,"X":0.053711290465772873,"Y":0.07876786479688515,"Z":0.024235202755885546}}},"cornersUsed":[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,false,false,false,false,false,false,false,false,false,false,false,false,true,false,false,false,false,false,false,false,false,false,false,false,false,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,true,false,false,true,true,false,false,false,false,false,false,false,false,false,false,true,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],"snapshotName":"img11.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/6194b9a1-d71c-4a88-9d65-79d4ce11b4d1/imgs/800x600/img11.png"},{"locationInObjectSpace":[{"x":0.044957999140024185,"y":0.0,"z":1.5550620446447283E-4},{"x":0.059943996369838715,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.07492999732494354,"y":0.029971998184919357,"z":5.337250768207014E-4},{"x":0.13487400114536285,"y":0.059943996369838715,"z":6.945607019588351E-4},{"x":0.14986000955104828,"y":0.07492999732494354,"z":6.911036325618625E-4},{"x":0.08991599828004837,"y":0.08991599828004837,"z":7.086976547725499E-4},{"x":0.14986000955104828,"y":0.08991599828004837,"z":6.709991721436381E-4},{"x":0.014986000023782253,"y":0.1049019992351532,"z":4.8345347750000656E-4},{"x":0.07492999732494354,"y":0.1049019992351532,"z":6.34247378911823E-4},{"x":0.08991599828004837,"y":0.1049019992351532,"z":6.483842735178769E-4},{"x":0.13487400114536285,"y":0.1049019992351532,"z":6.34247378911823E-4},{"x":0.0,"y":0.11988800019025803,"z":3.216711920686066E-4},{"x":0.014986000023782253,"y":0.11988800019025803,"z":3.829312336165458E-4},{"x":0.059943996369838715,"y":0.11988800019025803,"z":5.101635470055044E-4},{"x":0.07492999732494354,"y":0.11988800019025803,"z":5.337251350283623E-4},{"x":0.08991599828004837,"y":0.11988800019025803,"z":5.478620296344161E-4},{"x":0.1049019992351532,"y":0.11988800019025803,"z":5.525743472389877E-4},{"x":0.11988800019025803,"y":0.11988800019025803,"z":5.478620296344161E-4},{"x":0.029971998184919357,"y":0.13487400114536285,"z":2.9403544613160193E-4},{"x":0.044957999140024185,"y":0.13487400114536285,"z":3.3644624636508524E-4},{"x":0.059943996369838715,"y":0.13487400114536285,"z":3.694324113894254E-4},{"x":0.07492999732494354,"y":0.13487400114536285,"z":3.929939412046224E-4},{"x":0.11988800019025803,"y":0.13487400114536285,"z":4.0713089401833713E-4}],"locationInImageSpace":[{"x":576.6734619140625,"y":60.24683380126953},{"x":598.298095703125,"y":83.02522277832031},{"x":619.7745361328125,"y":105.55602264404297},{"x":711.3833618164062,"y":151.769775390625},{"x":733.4807739257812,"y":175.22389221191406},{"x":637.1581420898438,"y":196.7704620361328},{"x":731.9912719726562,"y":197.713623046875},{"x":523.5028076171875,"y":216.71839904785156},{"x":612.6166381835938,"y":218.5355224609375},{"x":635.9302978515625,"y":218.8865509033203},{"x":705.9197998046875,"y":220.11619567871094},{"x":501.2304992675781,"y":237.39283752441406},{"x":522.5680541992188,"y":238.0690460205078},{"x":588.6097412109375,"y":239.80804443359375},{"x":611.1044311523438,"y":240.14158630371094},{"x":634.275390625,"y":241.0166473388672},{"x":657.5751342773438,"y":241.2554473876953},{"x":681.1087036132812,"y":242.22525024414062},{"x":543.041015625,"y":260.73272705078125},{"x":565.5560302734375,"y":261.05084228515625},{"x":587.40625,"y":261.22125244140625},{"x":610.0328979492188,"y":262.032958984375},{"x":679.3682861328125,"y":264.1317138671875}],"reprojectionErrors":[{"x":-0.3690185546875,"y":-0.02105712890625},{"x":0.14617919921875,"y":-0.423004150390625}],"optimisedCameraToObject":{"translation":{"x":0.0862797691741904,"y":-0.18240660380631424,"z":0.4664486344205609},"rotation":{"quaternion":{"W":0.9951213245766342,"X":0.04865450481404019,"Y":0.08359871945395957,"Z":0.019430456500139998}}},"cornersUsed":[false,false,false,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,false,false,false,false,false,false,false,false,false,true,false,false,false,true,false,false,false,false,true,false,false,false,true,true,false,false,true,false,false,false,false,true,true,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,false,false,true,false,false,false,false,false],"snapshotName":"img12.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/6194b9a1-d71c-4a88-9d65-79d4ce11b4d1/imgs/800x600/img12.png"},{"locationInObjectSpace":[{"x":0.059943996369838715,"y":0.0,"z":1.8849235493689775E-4},{"x":0.1049019992351532,"y":0.0,"z":2.3090315517038107E-4},{"x":0.04495799541473389,"y":0.014985999092459679,"z":3.3644624636508524E-4},{"x":0.0,"y":0.04495799541473389,"z":4.221934359520674E-4},{"x":0.08991599828004837,"y":0.04495799541473389,"z":6.483842735178769E-4},{"x":0.0,"y":0.059943996369838715,"z":4.825067881029099E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":7.134099723771214E-4},{"x":0.059943996369838715,"y":0.1049019992351532,"z":6.10685849096626E-4},{"x":0.059943996369838715,"y":0.11988799273967743,"z":5.101636052131653E-4},{"x":0.07492999732494354,"y":0.11988799273967743,"z":5.337251932360232E-4},{"x":0.08991599828004837,"y":0.11988799273967743,"z":5.47862087842077E-4},{"x":0.1049019992351532,"y":0.11988799273967743,"z":5.525744054466486E-4}],"locationInImageSpace":[{"x":683.7428588867188,"y":111.43981170654297},{"x":757.0554809570312,"y":108.14138793945312},{"x":658.8240966796875,"y":134.7406463623047},{"x":587.3595581054688,"y":180.69973754882812},{"x":728.40478515625,"y":178.7029571533203},{"x":586.0856323242188,"y":202.9410858154297},{"x":750.8651733398438,"y":201.2357177734375},{"x":674.9088134765625,"y":268.6032409667969},{"x":673.7484130859375,"y":289.45648193359375},{"x":697.4901733398438,"y":290.431640625},{"x":720.776611328125,"y":290.815185546875},{"x":745.0484619140625,"y":291.4241638183594}],"reprojectionErrors":[],"optimisedCameraToObject":{"translation":{"x":0.14268993158384272,"y":-0.14680321331155655,"z":0.4688329517207482},"rotation":{"quaternion":{"W":0.9915763214841183,"X":0.055445166552047655,"Y":0.11663319046165103,"Z":0.009946409441422636}}},"cornersUsed":[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,false,false,true,false,false,false,false,false,false,false,false,false,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,false,false,false,false,false,true,false,false,false,false,false,false,false,true,false,false,false,false,false,false,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,false,false,false,false,false],"snapshotName":"img13.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/6194b9a1-d71c-4a88-9d65-79d4ce11b4d1/imgs/800x600/img13.png"},{"locationInObjectSpace":[{"x":0.0,"y":0.0,"z":0.0},{"x":0.044957999140024185,"y":0.0,"z":1.5550620446447283E-4},{"x":0.059943996369838715,"y":0.0,"z":1.8849235493689775E-4},{"x":0.07492999732494354,"y":0.0,"z":2.120539138559252E-4},{"x":0.08991599828004837,"y":0.0,"z":2.261908375658095E-4},{"x":0.1049019992351532,"y":0.0,"z":2.3090315517038107E-4},{"x":0.0,"y":0.014986000023782253,"z":1.8094005645252764E-4},{"x":0.044957999140024185,"y":0.014986000023782253,"z":3.3644624636508524E-4},{"x":0.059943996369838715,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.07492999732494354,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.08991599828004837,"y":0.014986000023782253,"z":4.0713089401833713E-4},{"x":0.1049019992351532,"y":0.014986000023782253,"z":4.118432116229087E-4},{"x":0.11988800019025803,"y":0.014986000023782253,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.0,"y":0.029971998184919357,"z":3.216711920686066E-4},{"x":0.014986000023782253,"y":0.029971998184919357,"z":3.8293120451271534E-4},{"x":0.029971998184919357,"y":0.029971998184919357,"z":4.3476661085151136E-4},{"x":0.044957999140024185,"y":0.029971998184919357,"z":4.771773819811642E-4},{"x":0.059943996369838715,"y":0.029971998184919357,"z":5.101635470055044E-4},{"x":0.1049019992351532,"y":0.029971998184919357,"z":5.525743472389877E-4},{"x":0.11988800019025803,"y":0.029971998184919357,"z":5.478620296344161E-4},{"x":0.0,"y":0.044957999140024185,"z":4.221934359520674E-4},{"x":0.014986000023782253,"y":0.044957999140024185,"z":4.8345347750000656E-4},{"x":0.029971998184919357,"y":0.044957999140024185,"z":5.352888838388026E-4},{"x":0.044957999140024185,"y":0.044957999140024185,"z":5.77699625864625E-4},{"x":0.1049019992351532,"y":0.044957999140024185,"z":6.530965911224484E-4},{"x":0.11988800019025803,"y":0.044957999140024185,"z":6.483842735178769E-4},{"x":0.0,"y":0.059943996369838715,"z":4.825067881029099E-4},{"x":0.014986000023782253,"y":0.059943996369838715,"z":5.437668296508491E-4},{"x":0.029971998184919357,"y":0.059943996369838715,"z":5.956022068858147E-4},{"x":0.044957999140024185,"y":0.059943996369838715,"z":6.38013007119298E-4},{"x":0.08991599828004837,"y":0.059943996369838715,"z":7.086976547725499E-4},{"x":0.13487400114536285,"y":0.059943996369838715,"z":6.945607019588351E-4},{"x":0.0,"y":0.07492999732494354,"z":5.026112776249647E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":5.638712900690734E-4},{"x":0.029971998184919357,"y":0.07492999732494354,"z":6.15706667304039E-4},{"x":0.044957999140024185,"y":0.07492999732494354,"z":6.581174675375223E-4},{"x":0.08991599828004837,"y":0.07492999732494354,"z":7.288021151907742E-4},{"x":0.0,"y":0.08991599828004837,"z":4.825068172067404E-4},{"x":0.014986000023782253,"y":0.08991599828004837,"z":5.437668296508491E-4},{"x":0.029971998184919357,"y":0.08991599828004837,"z":5.956022068858147E-4},{"x":0.044957999140024185,"y":0.08991599828004837,"z":6.38013007119298E-4},{"x":0.08991599828004837,"y":0.08991599828004837,"z":7.086976547725499E-4},{"x":0.1049019992351532,"y":0.08991599828004837,"z":7.134099723771214E-4},{"x":0.029971998184919357,"y":0.1049019992351532,"z":5.352888838388026E-4},{"x":0.044957999140024185,"y":0.1049019992351532,"z":5.776996840722859E-4},{"x":0.059943996369838715,"y":0.1049019992351532,"z":6.10685849096626E-4},{"x":0.07492999732494354,"y":0.1049019992351532,"z":6.34247378911823E-4},{"x":0.08991599828004837,"y":0.1049019992351532,"z":6.483842735178769E-4},{"x":0.1049019992351532,"y":0.1049019992351532,"z":6.530965911224484E-4},{"x":0.11988800019025803,"y":0.1049019992351532,"z":6.483842735178769E-4},{"x":0.13487400114536285,"y":0.1049019992351532,"z":6.34247378911823E-4},{"x":0.029971998184919357,"y":0.11988800019025803,"z":4.3476661085151136E-4},{"x":0.044957999140024185,"y":0.11988800019025803,"z":4.771774110849947E-4},{"x":0.059943996369838715,"y":0.11988800019025803,"z":5.101635470055044E-4},{"x":0.07492999732494354,"y":0.11988800019025803,"z":5.337251350283623E-4},{"x":0.08991599828004837,"y":0.11988800019025803,"z":5.478620296344161E-4},{"x":0.1049019992351532,"y":0.11988800019025803,"z":5.525743472389877E-4},{"x":0.11988800019025803,"y":0.11988800019025803,"z":5.478620296344161E-4},{"x":0.13487400114536285,"y":0.11988800019025803,"z":5.337251350283623E-4},{"x":0.059943996369838715,"y":0.13487400114536285,"z":3.694324113894254E-4},{"x":0.07492999732494354,"y":0.13487400114536285,"z":3.929939412046224E-4},{"x":0.11988800019025803,"y":0.13487400114536285,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.13487400114536285,"z":3.929939412046224E-4}],"locationInImageSpace":[{"x":515.1847534179688,"y":90.60977935791016},{"x":595.6527709960938,"y":83.65463256835938},{"x":624.32861328125,"y":82.11812591552734},{"x":652.7540893554688,"y":80.3311767578125},{"x":681.2422485351562,"y":78.25618743896484},{"x":710.6846923828125,"y":75.73810577392578},{"x":514.948974609375,"y":117.07669830322266},{"x":595.9288940429688,"y":111.80606079101562},{"x":623.971923828125,"y":109.90850067138672},{"x":651.9503784179688,"y":108.23668670654297},{"x":681.4037475585938,"y":106.2555923461914},{"x":709.9520263671875,"y":104.57717895507812},{"x":739.5086059570312,"y":101.69784545898438},{"x":769.8392944335938,"y":99.85980987548828},{"x":515.3157348632812,"y":144.1334686279297},{"x":541.30615234375,"y":142.4351806640625},{"x":569.0917358398438,"y":140.03179931640625},{"x":595.8104858398438,"y":138.769775390625},{"x":623.7180786132812,"y":137.1296844482422},{"x":709.5248413085938,"y":131.53030395507812},{"x":738.4844360351562,"y":130.62950134277344},{"x":515.4865112304688,"y":170.4250030517578},{"x":541.4215698242188,"y":169.1213836669922},{"x":568.2918701171875,"y":167.1304473876953},{"x":595.786865234375,"y":165.74256896972656},{"x":708.874267578125,"y":159.81768798828125},{"x":738.9594116210938,"y":158.84605407714844},{"x":516.1444702148438,"y":195.8288116455078},{"x":541.7001953125,"y":194.9253692626953},{"x":569.6985473632812,"y":193.36965942382812},{"x":595.8131713867188,"y":192.82591247558594},{"x":679.5233764648438,"y":188.1798858642578},{"x":766.8385620117188,"y":184.46238708496094},{"x":515.9724731445312,"y":222.08274841308594},{"x":542.209716796875,"y":221.01852416992188},{"x":568.2052001953125,"y":219.5168914794922},{"x":595.66845703125,"y":218.91944885253906},{"x":679.0493774414062,"y":215.6081085205078},{"x":516.5189819335938,"y":247.9256591796875},{"x":542.54541015625,"y":246.99664306640625},{"x":569.0028076171875,"y":245.9680633544922},{"x":595.3849487304688,"y":245.0360870361328},{"x":678.52294921875,"y":242.37338256835938},{"x":707.3932495117188,"y":241.62440490722656},{"x":568.2888793945312,"y":271.6405334472656},{"x":595.7241821289062,"y":271.07940673828125},{"x":622.2079467773438,"y":270.07220458984375},{"x":650.4342651367188,"y":270.1050109863281},{"x":678.021240234375,"y":268.7542419433594},{"x":707.002197265625,"y":268.62652587890625},{"x":736.0244750976562,"y":267.9794921875},{"x":764.8204345703125,"y":267.2950744628906},{"x":569.3643188476562,"y":297.8708801269531},{"x":595.0932006835938,"y":296.99932861328125},{"x":622.6807861328125,"y":296.2659606933594},{"x":649.585693359375,"y":295.8932800292969},{"x":678.2454223632812,"y":295.0527648925781},{"x":706.4705810546875,"y":294.9782409667969},{"x":735.1741333007812,"y":294.406982421875},{"x":764.0359497070312,"y":294.1328125},{"x":622.2481079101562,"y":322.5623779296875},{"x":650.3734741210938,"y":322.091064453125},{"x":734.9339599609375,"y":321.7734375},{"x":763.2608032226562,"y":321.4764404296875}],"reprojectionErrors":[{"x":-0.30657958984375,"y":0.03086090087890625},{"x":-0.42047119140625,"y":-0.06256866455078125},{"x":-0.110107421875,"y":-0.172698974609375},{"x":-0.28900146484375,"y":0.12093353271484375},{"x":0.172119140625,"y":0.2897491455078125},{"x":0.040771484375,"y":0.08249664306640625},{"x":0.045654296875,"y":-0.2822265625},{"x":0.05712890625,"y":0.2296142578125},{"x":-0.19000244140625,"y":0.197418212890625},{"x":-0.3751220703125,"y":0.60406494140625},{"x":0.1280517578125,"y":-0.2874298095703125},{"x":0.1126708984375,"y":-0.319091796875},{"x":0.5045166015625,"y":-0.4047393798828125},{"x":0.35552978515625,"y":0.17413330078125},{"x":0.3575439453125,"y":0.024200439453125},{"x":-1.02630615234375,"y":0.369354248046875},{"x":-0.12432861328125,"y":-0.3171234130859375},{"x":-0.259521484375,"y":0.5148773193359375},{"x":0.043212890625,"y":0.220947265625},{"x":0.4964599609375,"y":0.44073486328125},{"x":-0.05670166015625,"y":0.00982666015625},{"x":-0.07269287109375,"y":0.2007293701171875},{"x":-0.439697265625,"y":0.06689453125},{"x":0.48516845703125,"y":0.14788818359375},{"x":-0.24237060546875,"y":0.074951171875},{"x":-0.538818359375,"y":-0.102447509765625},{"x":-0.7193603515625,"y":-0.137786865234375},{"x":-0.5322265625,"y":0.568023681640625},{"x":-0.4747314453125,"y":0.177825927734375},{"x":-0.4483642578125,"y":0.278045654296875},{"x":-0.12017822265625,"y":0.074737548828125},{"x":-0.76123046875,"y":-0.4385986328125}],"optimisedCameraToObject":{"translation":{"x":0.07576507249909609,"y":-0.13647321653519767,"z":0.3917364355671315},"rotation":{"quaternion":{"W":0.9936201855044633,"X":0.05213269152062898,"Y":0.09956726467187749,"Z":-0.009352499059135395}}},"cornersUsed":[true,false,false,true,true,true,true,true,false,false,false,false,false,false,true,false,false,true,true,true,true,true,true,true,false,false,false,false,true,true,true,true,true,false,false,true,true,false,false,false,false,false,true,true,true,true,false,false,false,true,true,false,false,false,false,false,true,true,true,true,false,false,true,false,false,true,false,false,false,false,true,true,true,true,false,false,true,false,false,false,false,false,false,false,true,true,true,true,false,false,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,false,false,true,true,false,false,false,false],"snapshotName":"img14.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/6194b9a1-d71c-4a88-9d65-79d4ce11b4d1/imgs/800x600/img14.png"},{"locationInObjectSpace":[{"x":0.044957999140024185,"y":0.0,"z":1.5550620446447283E-4},{"x":0.059943996369838715,"y":0.0,"z":1.8849235493689775E-4},{"x":0.07492999732494354,"y":0.0,"z":2.120539138559252E-4},{"x":0.13487400114536285,"y":0.0,"z":2.120539138559252E-4},{"x":0.14986000955104828,"y":0.0,"z":1.8849235493689775E-4},{"x":0.1648460030555725,"y":0.0,"z":1.555061899125576E-4},{"x":0.17983201146125793,"y":0.0,"z":1.1309538240311667E-4},{"x":0.044957999140024185,"y":0.014986000023782253,"z":3.3644624636508524E-4},{"x":0.059943996369838715,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.07492999732494354,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.08991599828004837,"y":0.014986000023782253,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.14986000955104828,"y":0.014986000023782253,"z":3.694324113894254E-4},{"x":0.1648460030555725,"y":0.014986000023782253,"z":3.3644624636508524E-4},{"x":0.17983201146125793,"y":0.014986000023782253,"z":2.9403544613160193E-4},{"x":0.014986000023782253,"y":0.029971998184919357,"z":3.8293120451271534E-4},{"x":0.029971998184919357,"y":0.029971998184919357,"z":4.3476661085151136E-4},{"x":0.044957999140024185,"y":0.029971998184919357,"z":4.771773819811642E-4},{"x":0.059943996369838715,"y":0.029971998184919357,"z":5.101635470055044E-4},{"x":0.1049019992351532,"y":0.029971998184919357,"z":5.525743472389877E-4},{"x":0.11988800019025803,"y":0.029971998184919357,"z":5.478620296344161E-4},{"x":0.13487400114536285,"y":0.029971998184919357,"z":5.337250768207014E-4},{"x":0.14986000955104828,"y":0.029971998184919357,"z":5.101635470055044E-4},{"x":0.19481800496578217,"y":0.029971998184919357,"z":3.8293120451271534E-4},{"x":0.014986000023782253,"y":0.044957999140024185,"z":4.8345347750000656E-4},{"x":0.029971998184919357,"y":0.044957999140024185,"z":5.352888838388026E-4},{"x":0.044957999140024185,"y":0.044957999140024185,"z":5.77699625864625E-4},{"x":0.1049019992351532,"y":0.044957999140024185,"z":6.530965911224484E-4},{"x":0.11988800019025803,"y":0.044957999140024185,"z":6.483842735178769E-4},{"x":0.13487400114536285,"y":0.044957999140024185,"z":6.34247378911823E-4},{"x":0.19481800496578217,"y":0.044957999140024185,"z":4.834534483961761E-4},{"x":0.0,"y":0.059943996369838715,"z":4.825067881029099E-4},{"x":0.014986000023782253,"y":0.059943996369838715,"z":5.437668296508491E-4},{"x":0.029971998184919357,"y":0.059943996369838715,"z":5.956022068858147E-4},{"x":0.044957999140024185,"y":0.059943996369838715,"z":6.38013007119298E-4},{"x":0.13487400114536285,"y":0.059943996369838715,"z":6.945607019588351E-4},{"x":0.17983201146125793,"y":0.059943996369838715,"z":5.956022068858147E-4},{"x":0.19481800496578217,"y":0.059943996369838715,"z":5.437667714431882E-4},{"x":0.0,"y":0.07492999732494354,"z":5.026112776249647E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":5.638712900690734E-4},{"x":0.13487400114536285,"y":0.07492999732494354,"z":7.146651623770595E-4},{"x":0.17983201146125793,"y":0.07492999732494354,"z":6.15706667304039E-4},{"x":0.19481800496578217,"y":0.07492999732494354,"z":5.638712318614125E-4},{"x":0.0,"y":0.08991599828004837,"z":4.825068172067404E-4},{"x":0.014986000023782253,"y":0.08991599828004837,"z":5.437668296508491E-4},{"x":0.08991599828004837,"y":0.08991599828004837,"z":7.086976547725499E-4},{"x":0.17983201146125793,"y":0.08991599828004837,"z":5.956022068858147E-4},{"x":0.19481800496578217,"y":0.08991599828004837,"z":5.437668296508491E-4},{"x":0.0,"y":0.1049019992351532,"z":4.2219346505589783E-4},{"x":0.014986000023782253,"y":0.1049019992351532,"z":4.8345347750000656E-4},{"x":0.07492999732494354,"y":0.1049019992351532,"z":6.34247378911823E-4},{"x":0.17983201146125793,"y":0.1049019992351532,"z":5.352888256311417E-4},{"x":0.19481800496578217,"y":0.1049019992351532,"z":4.834534483961761E-4},{"x":0.0,"y":0.11988800019025803,"z":3.216711920686066E-4},{"x":0.014986000023782253,"y":0.11988800019025803,"z":3.829312336165458E-4},{"x":0.07492999732494354,"y":0.11988800019025803,"z":5.337251350283623E-4},{"x":0.11988800019025803,"y":0.11988800019025803,"z":5.478620296344161E-4},{"x":0.17983201146125793,"y":0.11988800019025803,"z":4.347665817476809E-4},{"x":0.19481800496578217,"y":0.11988800019025803,"z":3.8293120451271534E-4},{"x":0.0,"y":0.13487400114536285,"z":1.8094004190061241E-4},{"x":0.014986000023782253,"y":0.13487400114536285,"z":2.4220005434472114E-4},{"x":0.029971998184919357,"y":0.13487400114536285,"z":2.9403544613160193E-4},{"x":0.07492999732494354,"y":0.13487400114536285,"z":3.929939412046224E-4},{"x":0.08991599828004837,"y":0.13487400114536285,"z":4.0713089401833713E-4},{"x":0.1049019992351532,"y":0.13487400114536285,"z":4.1184318251907825E-4},{"x":0.11988800019025803,"y":0.13487400114536285,"z":4.0713089401833713E-4},{"x":0.1648460030555725,"y":0.13487400114536285,"z":3.3644624636508524E-4},{"x":0.17983201146125793,"y":0.13487400114536285,"z":2.940354170277715E-4},{"x":0.19481800496578217,"y":0.13487400114536285,"z":2.422000397928059E-4}],"locationInImageSpace":[{"x":377.9062194824219,"y":32.0720100402832},{"x":402.2938537597656,"y":31.88863182067871},{"x":427.0926208496094,"y":30.849300384521484},{"x":527.4678344726562,"y":29.010475158691406},{"x":553.4271850585938,"y":28.694303512573242},{"x":578.6240844726562,"y":27.802207946777344},{"x":605.1600952148438,"y":27.505443572998047},{"x":378.05804443359375,"y":57.251007080078125},{"x":402.18182373046875,"y":56.956974029541016},{"x":426.7887268066406,"y":56.884544372558594},{"x":451.3816223144531,"y":56.190799713134766},{"x":527.0480346679688,"y":55.2714958190918},{"x":552.8157348632812,"y":54.56294631958008},{"x":578.4458618164062,"y":53.71928405761719},{"x":604.7108764648438,"y":53.84440231323242},{"x":328.20147705078125,"y":82.8220443725586},{"x":352.9206237792969,"y":83.12085723876953},{"x":377.36029052734375,"y":82.53760528564453},{"x":401.7330322265625,"y":82.32005310058594},{"x":476.7860412597656,"y":81.5450210571289},{"x":501.4076843261719,"y":81.05793762207031},{"x":527.07666015625,"y":81.4408950805664},{"x":551.7700805664062,"y":80.18287658691406},{"x":628.7496337890625,"y":78.55036163330078},{"x":328.2870178222656,"y":108.27953338623047},{"x":352.6052551269531,"y":108.13056182861328},{"x":376.9239807128906,"y":108.2060317993164},{"x":476.0373840332031,"y":107.01893615722656},{"x":500.78851318359375,"y":106.53646850585938},{"x":526.3026123046875,"y":106.06134033203125},{"x":628.3971557617188,"y":104.69886779785156},{"x":304.3738098144531,"y":132.7849578857422},{"x":327.8621520996094,"y":132.36111450195312},{"x":352.7767333984375,"y":132.76153564453125},{"x":376.5796813964844,"y":132.2862091064453},{"x":525.1531372070312,"y":131.35435485839844},{"x":602.0061645507812,"y":130.95591735839844},{"x":627.7160034179688,"y":130.92816162109375},{"x":303.7733459472656,"y":157.42359924316406},{"x":327.2763366699219,"y":158.08692932128906},{"x":524.9492797851562,"y":156.8743896484375},{"x":601.2463989257812,"y":156.37025451660156},{"x":627.114013671875,"y":155.8799591064453},{"x":303.5326232910156,"y":182.22886657714844},{"x":327.90728759765625,"y":181.66217041015625},{"x":449.9060363769531,"y":182.00184631347656},{"x":600.4296264648438,"y":181.4122772216797},{"x":625.810791015625,"y":181.5826873779297},{"x":303.9258728027344,"y":206.724609375},{"x":328.01727294921875,"y":206.44439697265625},{"x":424.76043701171875,"y":206.84950256347656},{"x":599.6480712890625,"y":206.67703247070312},{"x":625.8032836914062,"y":206.3439483642578},{"x":303.3990783691406,"y":231.03504943847656},{"x":327.5196533203125,"y":231.0595703125},{"x":424.6868896484375,"y":231.50106811523438},{"x":498.39227294921875,"y":231.7249298095703},{"x":598.96435546875,"y":231.84017944335938},{"x":623.9822387695312,"y":231.2676544189453},{"x":303.28533935546875,"y":254.93365478515625},{"x":327.2910461425781,"y":255.2238311767578},{"x":350.908447265625,"y":254.873291015625},{"x":424.1028137207031,"y":255.91612243652344},{"x":448.3970642089844,"y":255.50518798828125},{"x":473.2433166503906,"y":256.6006164550781},{"x":497.55108642578125,"y":255.90562438964844},{"x":572.8291625976562,"y":256.7884826660156},{"x":598.5321044921875,"y":257.2048034667969},{"x":624.0313720703125,"y":256.7779846191406}],"reprojectionErrors":[{"x":0.26568603515625,"y":0.41442108154296875},{"x":-0.16204833984375,"y":0.21976470947265625},{"x":0.32879638671875,"y":0.5919036865234375},{"x":-0.02642822265625,"y":-0.04763031005859375},{"x":0.2545166015625,"y":0.24445724487304688},{"x":0.08056640625,"y":-0.08745574951171875},{"x":-0.2225341796875,"y":0.18828201293945312},{"x":-0.151275634765625,"y":0.24677276611328125},{"x":0.0123291015625,"y":0.1486663818359375},{"x":-0.59991455078125,"y":-0.06241607666015625},{"x":-0.121063232421875,"y":0.0826568603515625},{"x":0.3277587890625,"y":0.776580810546875},{"x":0.13262939453125,"y":0.00811767578125},{"x":0.0296630859375,"y":-0.0775299072265625},{"x":0.056793212890625,"y":-0.39299774169921875},{"x":-0.34869384765625,"y":0.1954345703125},{"x":-0.1512451171875,"y":0.40471649169921875},{"x":-0.11431884765625,"y":0.4278106689453125},{"x":0.431884765625,"y":0.689056396484375},{"x":0.23046875,"y":0.233123779296875},{"x":-0.31842041015625,"y":0.0054168701171875},{"x":-0.27880859375,"y":-0.185394287109375},{"x":0.4010009765625,"y":0.3650054931640625},{"x":-0.28729248046875,"y":0.0233612060546875},{"x":0.544219970703125,"y":0.0233306884765625},{"x":0.10577392578125,"y":0.5590362548828125},{"x":-0.264556884765625,"y":0.025543212890625},{"x":-0.159515380859375,"y":0.200775146484375},{"x":-0.0556640625,"y":-0.085113525390625},{"x":-0.0892333984375,"y":0.229766845703125},{"x":-0.324432373046875,"y":-0.14337158203125},{"x":-0.107940673828125,"y":-0.085662841796875},{"x":-0.077880859375,"y":0.16375732421875},{"x":0.43914794921875,"y":0.825531005859375},{"x":0.42529296875,"y":0.111572265625},{"x":0.260345458984375,"y":0.4434356689453125},{"x":-0.31085205078125,"y":0.39208984375}],"optimisedCameraToObject":{"translation":{"x":-0.048394932198439836,"y":-0.17971585459198727,"z":0.415733616896718},"rotation":{"quaternion":{"W":0.9987901910953569,"X":0.028317024866185717,"Y":0.039698103157350506,"Z":0.006353021339219705}}},"cornersUsed":[false,false,false,true,true,true,false,false,false,true,true,true,true,false,false,false,false,true,true,true,true,false,false,true,true,true,true,false,false,true,true,true,true,false,false,true,true,true,true,false,false,true,false,true,true,true,false,false,false,true,true,true,false,false,false,true,true,true,true,true,false,false,false,false,false,true,false,false,true,true,true,true,false,false,false,false,false,false,false,true,false,false,true,true,true,true,false,false,false,false,true,false,false,false,false,false,true,true,true,true,false,false,false,true,false,false,false,false,false,false,true,true,true,true,false,false,false,true,false,false,true,false,false,false,true,true,true,true,true,false,false,true,true,true,true,false,false,true,true,true],"snapshotName":"img15.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/6194b9a1-d71c-4a88-9d65-79d4ce11b4d1/imgs/800x600/img15.png"},{"locationInObjectSpace":[{"x":0.08991599828004837,"y":0.0,"z":2.261908375658095E-4},{"x":0.13487400114536285,"y":0.0,"z":2.120539138559252E-4},{"x":0.17983201146125793,"y":0.0,"z":1.1309538240311667E-4},{"x":0.029971998184919357,"y":0.014986000023782253,"z":2.940354752354324E-4},{"x":0.07492999732494354,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.08991599828004837,"y":0.014986000023782253,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.014986000023782253,"z":3.9299397030845284E-4},{"x":0.17983201146125793,"y":0.014986000023782253,"z":2.9403544613160193E-4},{"x":0.029971998184919357,"y":0.029971998184919357,"z":4.3476661085151136E-4},{"x":0.19481800496578217,"y":0.029971998184919357,"z":3.8293120451271534E-4},{"x":0.1049019992351532,"y":0.059943996369838715,"z":7.134099723771214E-4},{"x":0.11988800019025803,"y":0.059943996369838715,"z":7.086976547725499E-4},{"x":0.13487400114536285,"y":0.059943996369838715,"z":6.945607019588351E-4},{"x":0.0,"y":0.07492999732494354,"z":5.026112776249647E-4},{"x":0.014986000023782253,"y":0.07492999732494354,"z":5.638712900690734E-4},{"x":0.1049019992351532,"y":0.07492999732494354,"z":7.335144327953458E-4},{"x":0.11988800019025803,"y":0.07492999732494354,"z":7.288021151907742E-4},{"x":0.13487400114536285,"y":0.07492999732494354,"z":7.146651623770595E-4},{"x":0.17983201146125793,"y":0.07492999732494354,"z":6.15706667304039E-4},{"x":0.19481800496578217,"y":0.07492999732494354,"z":5.638712318614125E-4},{"x":0.0,"y":0.08991599828004837,"z":4.825068172067404E-4},{"x":0.014986000023782253,"y":0.08991599828004837,"z":5.437668296508491E-4},{"x":0.1049019992351532,"y":0.08991599828004837,"z":7.134099723771214E-4},{"x":0.11988800019025803,"y":0.08991599828004837,"z":7.086976547725499E-4},{"x":0.13487400114536285,"y":0.08991599828004837,"z":6.945607019588351E-4},{"x":0.0,"y":0.1049019992351532,"z":4.2219346505589783E-4},{"x":0.014986000023782253,"y":0.1049019992351532,"z":4.8345347750000656E-4},{"x":0.029971998184919357,"y":0.1049019992351532,"z":5.352888838388026E-4},{"x":0.1049019992351532,"y":0.1049019992351532,"z":6.530965911224484E-4},{"x":0.11988800019025803,"y":0.1049019992351532,"z":6.483842735178769E-4},{"x":0.13487400114536285,"y":0.1049019992351532,"z":6.34247378911823E-4},{"x":0.044957999140024185,"y":0.11988800019025803,"z":4.771774110849947E-4},{"x":0.059943996369838715,"y":0.11988800019025803,"z":5.101635470055044E-4},{"x":0.1049019992351532,"y":0.11988800019025803,"z":5.525743472389877E-4},{"x":0.11988800019025803,"y":0.11988800019025803,"z":5.478620296344161E-4},{"x":0.13487400114536285,"y":0.11988800019025803,"z":5.337251350283623E-4},{"x":0.059943996369838715,"y":0.13487400114536285,"z":3.694324113894254E-4},{"x":0.1049019992351532,"y":0.13487400114536285,"z":4.1184318251907825E-4},{"x":0.11988800019025803,"y":0.13487400114536285,"z":4.0713089401833713E-4},{"x":0.13487400114536285,"y":0.13487400114536285,"z":3.929939412046224E-4},{"x":0.14986000955104828,"y":0.13487400114536285,"z":3.6943238228559494E-4},{"x":0.1648460030555725,"y":0.13487400114536285,"z":3.3644624636508524E-4},{"x":0.17983201146125793,"y":0.13487400114536285,"z":2.940354170277715E-4}],"locationInImageSpace":[{"x":171.396728515625,"y":47.87582778930664},{"x":238.27035522460938,"y":50.740264892578125},{"x":304.2972106933594,"y":53.406036376953125},{"x":80.24002075195312,"y":66.52880859375},{"x":148.4257049560547,"y":69.25560760498047},{"x":170.92088317871094,"y":69.81278991699219},{"x":237.20443725585938,"y":73.01522827148438},{"x":304.0174865722656,"y":75.55504608154297},{"x":80.1826171875,"y":88.65489196777344},{"x":325.22357177734375,"y":98.444091796875},{"x":190.98179626464844,"y":137.6190948486328},{"x":213.71498107910156,"y":138.20455932617188},{"x":235.9471435546875,"y":139.0537567138672},{"x":32.317657470703125,"y":153.0542755126953},{"x":54.881290435791016,"y":154.25018310546875},{"x":190.6208953857422,"y":160.0125732421875},{"x":212.70477294921875,"y":160.33346557617188},{"x":235.36752319335938,"y":161.4810028076172},{"x":301.64593505859375,"y":164.00189208984375},{"x":323.7734375,"y":164.28997802734375},{"x":31.80105972290039,"y":175.79519653320312},{"x":54.04876708984375,"y":176.39886474609375},{"x":189.45480346679688,"y":181.16856384277344},{"x":211.81988525390625,"y":182.3276824951172},{"x":234.74830627441406,"y":183.40731811523438},{"x":30.16575813293457,"y":197.4879913330078},{"x":53.25119400024414,"y":198.77113342285156},{"x":76.18394470214844,"y":199.1595001220703},{"x":188.5324249267578,"y":204.1573028564453},{"x":211.41522216796875,"y":204.5901641845703},{"x":233.818359375,"y":205.2998809814453},{"x":97.8849868774414,"y":222.35690307617188},{"x":120.370849609375,"y":223.255126953125},{"x":188.14036560058594,"y":225.6640625},{"x":210.92515563964844,"y":226.68772888183594},{"x":232.93190002441406,"y":227.3832244873047},{"x":119.922119140625,"y":245.4756317138672},{"x":187.5252685546875,"y":247.79690551757812},{"x":210.0650177001953,"y":248.36146545410156},{"x":232.30801391601562,"y":249.32659912109375},{"x":254.26666259765625,"y":250.02536010742188},{"x":276.52764892578125,"y":251.36520385742188},{"x":299.01202392578125,"y":251.80731201171875}],"reprojectionErrors":[{"x":0.5870819091796875,"y":0.15581512451171875},{"x":0.370330810546875,"y":0.4491424560546875},{"x":-0.118499755859375,"y":0.2697601318359375},{"x":0.1831207275390625,"y":0.1695709228515625},{"x":-0.11688232421875,"y":0.406585693359375},{"x":-0.053371429443359375,"y":-0.009918212890625},{"x":0.3724365234375,"y":0.2304840087890625},{"x":0.5004806518554688,"y":0.1435699462890625},{"x":-0.05023193359375,"y":0.1136322021484375},{"x":0.26324462890625,"y":-0.376678466796875}],"optimisedCameraToObject":{"translation":{"x":-0.23324293352127942,"y":-0.19144266596205248,"z":0.4556880574272741},"rotation":{"quaternion":{"W":0.9996925603190514,"X":-0.0045290353325702975,"Y":-0.019619243481278612,"Z":0.014469207542859089}}},"cornersUsed":[false,false,false,false,false,false,true,false,false,true,false,false,true,false,false,false,true,false,false,true,true,false,false,true,false,false,true,false,false,false,true,false,false,false,false,false,false,false,false,false,false,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,false,false,false,false,false,true,true,true,false,false,true,true,true,true,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,true,true,false,false,true,true,true,false,false,false,false,false,false,false,false,true,false,false,true,true,true,true,true,true,false],"snapshotName":"img16.png","snapshotDataLocation":"file:///opt/photonvision/photonvision_config/calibration/6194b9a1-d71c-4a88-9d65-79d4ce11b4d1/imgs/800x600/img16.png"}],"calobjectSize":{"width":14.0,"height":10.0},"calobjectSpacing":0.014986,"lensmodel":"LENSMODEL_OPENCV"} \ No newline at end of file diff --git a/src/main/java/org/team2342/frc/Constants.java b/src/main/java/org/team2342/frc/Constants.java index 22f17f6..1add502 100644 --- a/src/main/java/org/team2342/frc/Constants.java +++ b/src/main/java/org/team2342/frc/Constants.java @@ -39,8 +39,7 @@ public static enum Mode { } public static final class VisionConstants { - public static final String SWERVE_CAMERA_NAME = "swerve_arducam"; - public static final String SHOOTER_CAMERA_NAME = "shooter_arducam"; + public static final String LEFT_CAMERA_NAME = "left_arducam"; public static final String RIGHT_CAMERA_NAME = "right_arducam"; public static final Transform3d SWERVE_CAMERA_TRANSFORM = @@ -52,23 +51,21 @@ public static final class VisionConstants { new Rotation3d( 0, Units.degreesToRadians(-22.0), Units.degreesToRadians(-(90 + 61.475)))); - public static final Transform3d RIGHT_CAMERA = + public static final Transform3d RIGHT_CAMERA = new Transform3d( new Translation3d( Units.inchesToMeters(-13.428), - Units.inchesToMeters(-3.917), - Units.inchesToMeters(5.930)), - new Rotation3d( - 0, Units.degreesToRadians(-30), Units.degreesToRadians(10))); + Units.inchesToMeters(3.917), + Units.inchesToMeters(7.618)), + new Rotation3d(0, Units.degreesToRadians(-30), Units.degreesToRadians(190))); - public static final Transform3d LEFT_CAMERA = + public static final Transform3d LEFT_CAMERA = new Transform3d( new Translation3d( Units.inchesToMeters(-13.428), - Units.inchesToMeters(3.931), - Units.inchesToMeters(5.930)), - new Rotation3d( - 0, Units.degreesToRadians(-30), Units.degreesToRadians(-10))); + Units.inchesToMeters(-3.931), + Units.inchesToMeters(7.618)), + new Rotation3d(0, Units.degreesToRadians(-30), Units.degreesToRadians(-190))); public static final Transform3d SHOOTER_CAMERA_TRANSFORM = new Transform3d( @@ -81,17 +78,11 @@ public static final class VisionConstants { Units.degreesToRadians((90 - 63.435 + 180)), Units.degreesToRadians(-119.745 + 90))); - public static final CameraParameters SWERVE_CAMERA_PARAMETERS = - CameraParameters.loadFromName(SWERVE_CAMERA_NAME, 800, 600) - .withTransform(SWERVE_CAMERA_TRANSFORM); + public static final CameraParameters LEFT_CAMERA_PARAMETERS = + CameraParameters.loadFromName(LEFT_CAMERA_NAME, 800, 600).withTransform(LEFT_CAMERA); public static final CameraParameters RIGHT_CAMERA_PARAMETERS = - CameraParameters.loadFromName(SWERVE_CAMERA_NAME, 800, 600) - .withTransform(RIGHT_CAMERA); - - public static final CameraParameters SHOOTER_CAMERA_PARAMETERS = - CameraParameters.loadFromName(SHOOTER_CAMERA_NAME, 800, 600) - .withTransform(SHOOTER_CAMERA_TRANSFORM); + CameraParameters.loadFromName(LEFT_CAMERA_NAME, 800, 600).withTransform(RIGHT_CAMERA); // Basic filtering thresholds public static final double MAX_AMBIGUITY = 0.1; @@ -224,7 +215,7 @@ public static final class IntakeConstants { .withSupplyCurrentLimit(40.0) .withFeedbackConfig( FeedbackConfig.fused( - CANConstants.INTAKE_PIVOT_ENCODER_ID, PIVOT_GEAR_RATIO, 0.681, true)) + CANConstants.INTAKE_PIVOT_ENCODER_ID, PIVOT_GEAR_RATIO, 0.01, true)) .withProfileConstraintsRad( new TrapezoidProfile.Constraints( Units.degreesToRadians(1800), Units.degreesToRadians(540))); diff --git a/src/main/java/org/team2342/frc/Robot.java b/src/main/java/org/team2342/frc/Robot.java index 8bb6fd5..8d4c39f 100644 --- a/src/main/java/org/team2342/frc/Robot.java +++ b/src/main/java/org/team2342/frc/Robot.java @@ -13,6 +13,7 @@ import edu.wpi.first.math.MathShared; import edu.wpi.first.math.MathSharedStore; import edu.wpi.first.math.MathUsageId; +import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.IterativeRobotBase; @@ -30,6 +31,7 @@ import org.littletonrobotics.junction.networktables.NT4Publisher; import org.littletonrobotics.junction.wpilog.WPILOGReader; import org.littletonrobotics.junction.wpilog.WPILOGWriter; +import org.team2342.frc.Constants.VisionConstants; import org.team2342.frc.util.FiringSolver; import org.team2342.frc.util.HubShiftUtil; import org.team2342.frc.util.PhoenixUtils; @@ -173,6 +175,10 @@ public void robotPeriodic() { Logger.recordOutput("FlywheelManual", robotContainer.getFlywheelManual()); Logger.recordOutput("Vision/HasTags", robotContainer.getVision().hasTags()); + Logger.recordOutput("zero", Pose3d.kZero); + Logger.recordOutput("camera", Pose3d.kZero.plus(VisionConstants.LEFT_CAMERA)); + Logger.recordOutput("camera2", Pose3d.kZero.plus(VisionConstants.RIGHT_CAMERA)); + robotContainer.updateAlerts(); FiringSolver.getInstance().clearCachedSolution(); diff --git a/src/main/java/org/team2342/frc/RobotContainer.java b/src/main/java/org/team2342/frc/RobotContainer.java index 38f9b61..6aa10a9 100644 --- a/src/main/java/org/team2342/frc/RobotContainer.java +++ b/src/main/java/org/team2342/frc/RobotContainer.java @@ -49,7 +49,6 @@ import org.team2342.frc.subsystems.indexer.Indexer; import org.team2342.frc.subsystems.intake.Pivot; import org.team2342.frc.subsystems.intake.Wheels; -import org.team2342.frc.subsystems.leds.LEDSubsystem; import org.team2342.frc.subsystems.shooter.Flywheel; import org.team2342.frc.subsystems.shooter.Kicker; import org.team2342.frc.subsystems.shooter.Turret; @@ -60,8 +59,6 @@ import org.team2342.frc.util.FieldConstants; import org.team2342.frc.util.FiringSolver; import org.team2342.frc.util.HubShiftUtil; -import org.team2342.lib.leds.LedIO; -import org.team2342.lib.leds.LedIOCANdle; import org.team2342.lib.motors.dumb.DumbMotorIO; import org.team2342.lib.motors.dumb.DumbMotorIOSim; import org.team2342.lib.motors.dumb.DumbMotorIOSparkFlex; @@ -84,7 +81,6 @@ public class RobotContainer { @Getter private final Wheels wheels; @Getter private final Flywheel flywheel; @Getter private final Turret turret; - @Getter private final LEDSubsystem leds; @Getter private final Conductor conductor; @@ -125,7 +121,11 @@ public RobotContainer() { drive::addVisionMeasurement, drive::getTimestampedHeading, new VisionIOPhoton( - VisionConstants.SWERVE_CAMERA_PARAMETERS, + VisionConstants.LEFT_CAMERA_PARAMETERS, + PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, + PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR), + new VisionIOPhoton( + VisionConstants.RIGHT_CAMERA_PARAMETERS, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR)); turret = @@ -174,13 +174,6 @@ public RobotContainer() { drive::getChassisSpeeds, () -> turretManual, () -> flywheelManual); - leds = - new LEDSubsystem( - new LedIOCANdle(CANConstants.CANDLE_ID, 32), - "CANdle", - vision::hasTags, - conductor::getCurrentState); - LoggedPowerDistribution.getInstance(CANConstants.PDH_ID, ModuleType.kRev); break; @@ -197,12 +190,12 @@ public RobotContainer() { drive::addVisionMeasurement, drive::getTimestampedHeading, new VisionIOSim( - VisionConstants.RIGHT_CAMERA_PARAMETERS, + VisionConstants.LEFT_CAMERA_PARAMETERS, PoseStrategy.CONSTRAINED_SOLVEPNP, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, drive::getRawOdometryPose), new VisionIOSim( - VisionConstants.SHOOTER_CAMERA_PARAMETERS, + VisionConstants.RIGHT_CAMERA_PARAMETERS, PoseStrategy.CONSTRAINED_SOLVEPNP, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, drive::getRawOdometryPose)); @@ -239,9 +232,6 @@ public RobotContainer() { drive::getChassisSpeeds, () -> turretManual, () -> flywheelManual); - leds = - new LEDSubsystem(new LedIO() {}, "CANdle", vision::hasTags, conductor::getCurrentState); - break; default: @@ -274,9 +264,6 @@ public RobotContainer() { drive::getChassisSpeeds, () -> turretManual, () -> flywheelManual); - leds = - new LEDSubsystem(new LedIO() {}, "CANdle", vision::hasTags, conductor::getCurrentState); - break; } @@ -328,17 +315,17 @@ public RobotContainer() { private void configureNamedCommands() { NamedCommands.registerCommand("Named Command Test", Commands.print("Named Command Test")); NamedCommands.registerCommand( - "autoShoot", - conductor.runState(ConductorState.WARM_UP) - .withTimeout(1.0) - .andThen( - conductor.runState(ConductorState.TRACKED_FIRING) - .alongWith(pivot.holdAngle(IntakeConstants.MIN_ANGLE)) - .alongWith(Commands.parallel(indexer.pulseIn(), kicker.in(), disruptor.in())) - .withTimeout(3.0)) - .finallyDo(() -> - Commands.parallel(indexer.stop(), kicker.stop(), disruptor.stop() - ))); + "autoShoot", + conductor + .runState(ConductorState.WARM_UP) + .withTimeout(1.0) + .andThen( + conductor + .runState(ConductorState.TRACKED_FIRING) + .alongWith(pivot.holdAngle(IntakeConstants.MIN_ANGLE)) + .alongWith(Commands.parallel(indexer.pulseIn(), kicker.in(), disruptor.in())) + .withTimeout(3.0)) + .finallyDo(() -> Commands.parallel(indexer.stop(), kicker.stop(), disruptor.stop()))); NamedCommands.registerCommand( "autoIntake", @@ -393,7 +380,7 @@ private void configureBindings() { driverController .leftTrigger() .whileTrue(wheels.in().alongWith(pivot.holdAngle(IntakeConstants.MIN_ANGLE))) - .onFalse(wheels.stop().alongWith(pivot.holdAngle(0.2))); + .onFalse(wheels.stop().alongWith(pivot.holdAngle(0.875))); // Retract Intake driverController @@ -464,7 +451,7 @@ private void configureBindings() { // Location Triggers allianceZoneTrigger .and(driverController.rightTrigger().negate().and(driverController.rightBumper().negate())) - .whileTrue(conductor.runState(ConductorState.WARM_UP)); + .whileTrue(conductor.runState(ConductorState.TRACKED_FIRING)); // Shift Util Resets RobotModeTriggers.teleop().onTrue(Commands.runOnce(HubShiftUtil::initialize)); diff --git a/src/main/java/org/team2342/frc/util/FiringSolver.java b/src/main/java/org/team2342/frc/util/FiringSolver.java index 4a66e82..b4065cc 100644 --- a/src/main/java/org/team2342/frc/util/FiringSolver.java +++ b/src/main/java/org/team2342/frc/util/FiringSolver.java @@ -54,7 +54,6 @@ public class FiringSolver { tofMap.put(4.23, 3.43 - 2.25); tofMap.put(4.95, 2.64 - 1.33); tofMap.put(5.166, 6.9 - 5.4); - } public static FiringSolver getInstance() { @@ -104,7 +103,7 @@ public FiringSolution calculate(ChassisSpeeds velocity, Pose2d position) { .minus(Rotation2d.kCCW_Pi_2); // TODO: tune real passing speed - lastSolution = new FiringSolution(turretAngle, 15.0, true); + lastSolution = new FiringSolution(turretAngle, 18.0, true); return lastSolution; } @@ -147,7 +146,8 @@ public FiringSolution calculate(ChassisSpeeds velocity, Pose2d position) { hub.minus(predictedPose.getTranslation()) .getAngle() .minus(position.getRotation()) - .minus(Rotation2d.kCCW_Pi_2); + .minus(Rotation2d.kCCW_Pi_2) + .plus(Rotation2d.fromDegrees(5)); double wheelSpeed = speedMap.get(predictedDistance); diff --git a/src/main/java/org/team2342/frc/util/PassingController.java b/src/main/java/org/team2342/frc/util/PassingController.java index 9639965..ffc63f1 100644 --- a/src/main/java/org/team2342/frc/util/PassingController.java +++ b/src/main/java/org/team2342/frc/util/PassingController.java @@ -17,13 +17,13 @@ public class PassingController { private final EnhancedXboxController operatorController; private final Translation2d leftTarget = - AllianceUtils.flipToAlliance(FieldConstants.Outpost.centerPoint); + AllianceUtils.flipToAlliance(FieldConstants.Outpost.centerPoint); private final Translation2d rightTarget = - AllianceUtils.flipToAlliance( - new Translation2d( - FieldConstants.Outpost.centerPoint.getX(), - FieldConstants.fieldWidth - FieldConstants.Outpost.centerPoint.getY())); + AllianceUtils.flipToAlliance( + new Translation2d( + FieldConstants.Outpost.centerPoint.getX(), + FieldConstants.fieldWidth - FieldConstants.Outpost.centerPoint.getY())); private Translation2d adjustedLeftTarget = leftTarget; private Translation2d adjustedRightTarget = rightTarget; diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json index 2faa4db..469ae54 100644 --- a/vendordeps/AdvantageKit.json +++ b/vendordeps/AdvantageKit.json @@ -1,7 +1,7 @@ { "fileName": "AdvantageKit.json", "name": "AdvantageKit", - "version": "26.0.0", + "version": "26.0.2", "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", "frcYear": "2026", "mavenUrls": [ @@ -12,14 +12,14 @@ { "groupId": "org.littletonrobotics.akit", "artifactId": "akit-java", - "version": "26.0.0" + "version": "26.0.2" } ], "jniDependencies": [ { "groupId": "org.littletonrobotics.akit", "artifactId": "akit-wpilibio", - "version": "26.0.0", + "version": "26.0.2", "skipInvalidPlatforms": false, "isJar": false, "validPlatforms": [ diff --git a/vendordeps/Phoenix6-26.1.0.json b/vendordeps/Phoenix6-26.1.3.json similarity index 92% rename from vendordeps/Phoenix6-26.1.0.json rename to vendordeps/Phoenix6-26.1.3.json index 5d2d04d..f5da594 100644 --- a/vendordeps/Phoenix6-26.1.0.json +++ b/vendordeps/Phoenix6-26.1.3.json @@ -1,7 +1,7 @@ { - "fileName": "Phoenix6-26.1.0.json", + "fileName": "Phoenix6-26.1.3.json", "name": "CTRE-Phoenix (v6)", - "version": "26.1.0", + "version": "26.1.3", "frcYear": "2026", "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ @@ -19,14 +19,14 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "26.1.0" + "version": "26.1.3" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -40,7 +40,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -54,7 +54,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -68,7 +68,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -82,7 +82,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -96,7 +96,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -110,7 +110,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -124,7 +124,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -138,7 +138,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -152,7 +152,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -166,7 +166,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -180,7 +180,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -194,7 +194,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -208,7 +208,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -224,7 +224,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -240,7 +240,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -256,7 +256,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -272,7 +272,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -288,7 +288,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -304,7 +304,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -320,7 +320,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -336,7 +336,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -352,7 +352,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimProTalonFXS", "headerClassifier": "headers", "sharedLibrary": true, @@ -368,7 +368,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -384,7 +384,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -400,7 +400,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -416,7 +416,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, @@ -432,7 +432,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimProCANdle", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json index bb613bf..e7a0655 100644 --- a/vendordeps/REVLib.json +++ b/vendordeps/REVLib.json @@ -1,7 +1,7 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2026.0.1", + "version": "2026.0.5", "frcYear": "2026", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ @@ -12,14 +12,14 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2026.0.1" + "version": "2026.0.5" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.1", + "version": "2026.0.5", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -34,7 +34,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.1", + "version": "2026.0.5", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -49,7 +49,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.1", + "version": "2026.0.5", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -66,7 +66,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2026.0.1", + "version": "2026.0.5", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -83,7 +83,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.1", + "version": "2026.0.5", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -100,7 +100,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.1", + "version": "2026.0.5", "libName": "BackendDriver", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -116,7 +116,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.1", + "version": "2026.0.5", "libName": "REVLibWpi", "sharedLibrary": true, "skipInvalidPlatforms": true, diff --git a/vendordeps/ReduxLib-2026.1.1.json b/vendordeps/ReduxLib-2026.1.2.json similarity index 89% rename from vendordeps/ReduxLib-2026.1.1.json rename to vendordeps/ReduxLib-2026.1.2.json index 9081f8b..431fe17 100644 --- a/vendordeps/ReduxLib-2026.1.1.json +++ b/vendordeps/ReduxLib-2026.1.2.json @@ -1,7 +1,7 @@ { - "fileName": "ReduxLib-2026.1.1.json", + "fileName": "ReduxLib-2026.1.2.json", "name": "ReduxLib", - "version": "2026.1.1", + "version": "2026.1.2", "frcYear": "2026", "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", "mavenUrls": [ @@ -12,14 +12,14 @@ { "groupId": "com.reduxrobotics.frc", "artifactId": "ReduxLib-java", - "version": "2026.1.1" + "version": "2026.1.2" } ], "jniDependencies": [ { "groupId": "com.reduxrobotics.frc", "artifactId": "ReduxLib-fifo", - "version": "2026.1.1", + "version": "2026.1.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -35,7 +35,7 @@ { "groupId": "com.reduxrobotics.frc", "artifactId": "ReduxLib-cpp", - "version": "2026.1.1", + "version": "2026.1.2", "libName": "ReduxLib", "headerClassifier": "headers", "sourcesClassifier": "sources", @@ -52,7 +52,7 @@ { "groupId": "com.reduxrobotics.frc", "artifactId": "ReduxLib-fifo", - "version": "2026.1.1", + "version": "2026.1.2", "libName": "reduxfifo", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json index b0ac8fb..529f17b 100644 --- a/vendordeps/photonlib.json +++ b/vendordeps/photonlib.json @@ -1,7 +1,7 @@ { "fileName": "photonlib.json", "name": "photonlib", - "version": "v2026.1.1", + "version": "v2026.3.2", "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", "frcYear": "2026", "mavenUrls": [ @@ -13,7 +13,7 @@ { "groupId": "org.photonvision", "artifactId": "photontargeting-cpp", - "version": "v2026.1.1", + "version": "v2026.3.2", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -28,7 +28,7 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-cpp", - "version": "v2026.1.1", + "version": "v2026.3.2", "libName": "photonlib", "headerClassifier": "headers", "sharedLibrary": true, @@ -43,7 +43,7 @@ { "groupId": "org.photonvision", "artifactId": "photontargeting-cpp", - "version": "v2026.1.1", + "version": "v2026.3.2", "libName": "photontargeting", "headerClassifier": "headers", "sharedLibrary": true, @@ -60,12 +60,12 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-java", - "version": "v2026.1.1" + "version": "v2026.3.2" }, { "groupId": "org.photonvision", "artifactId": "photontargeting-java", - "version": "v2026.1.1" + "version": "v2026.3.2" } ] } From 37079d526fb98b5c2a4ce248264ad9f80ad364e6 Mon Sep 17 00:00:00 2001 From: Luddo183 <93882319+Luddo183@users.noreply.github.com> Date: Sun, 29 Mar 2026 12:03:43 -0400 Subject: [PATCH 9/9] retuned shooter --- .../java/org/team2342/frc/RobotContainer.java | 2 +- .../team2342/frc/subsystems/Conductor.java | 2 +- .../org/team2342/frc/util/FiringSolver.java | 76 ++++++++++++------- .../team2342/frc/util/PassingController.java | 11 +-- 4 files changed, 55 insertions(+), 36 deletions(-) diff --git a/src/main/java/org/team2342/frc/RobotContainer.java b/src/main/java/org/team2342/frc/RobotContainer.java index 6aa10a9..926fcb7 100644 --- a/src/main/java/org/team2342/frc/RobotContainer.java +++ b/src/main/java/org/team2342/frc/RobotContainer.java @@ -451,7 +451,7 @@ private void configureBindings() { // Location Triggers allianceZoneTrigger .and(driverController.rightTrigger().negate().and(driverController.rightBumper().negate())) - .whileTrue(conductor.runState(ConductorState.TRACKED_FIRING)); + .whileTrue(conductor.runState(ConductorState.WARM_UP)); // Shift Util Resets RobotModeTriggers.teleop().onTrue(Commands.runOnce(HubShiftUtil::initialize)); diff --git a/src/main/java/org/team2342/frc/subsystems/Conductor.java b/src/main/java/org/team2342/frc/subsystems/Conductor.java index e7879be..e1c0755 100644 --- a/src/main/java/org/team2342/frc/subsystems/Conductor.java +++ b/src/main/java/org/team2342/frc/subsystems/Conductor.java @@ -107,7 +107,7 @@ private void setupStateCommands() { .calculate(velocitySupplier.get(), poseSupplier.get()) .turretAngle()) .alongWith( - flywheel.warmUpCommand( + flywheel.shoot( () -> FiringSolver.getInstance() .calculate(velocitySupplier.get(), poseSupplier.get()) diff --git a/src/main/java/org/team2342/frc/util/FiringSolver.java b/src/main/java/org/team2342/frc/util/FiringSolver.java index b4065cc..b96b10f 100644 --- a/src/main/java/org/team2342/frc/util/FiringSolver.java +++ b/src/main/java/org/team2342/frc/util/FiringSolver.java @@ -15,11 +15,18 @@ import org.littletonrobotics.junction.Logger; import org.team2342.frc.Constants.TurretConstants; import org.team2342.frc.RobotContainer; +import org.team2342.lib.logging.tunable.TunableNumber; import org.team2342.lib.util.AllianceUtils; +import org.team2342.lib.util.EnhancedXboxController; public class FiringSolver { private static FiringSolver instance; + private PassingController controller = new PassingController(new EnhancedXboxController(1)); + + private final TunableNumber passingSpeedOffset = + new TunableNumber("PassingSpeedOffset", 0, () -> true); + private static final int ITERATIONS = 5; public static final double MIN_TOF, MAX_TOF; @@ -30,27 +37,42 @@ public class FiringSolver { private static final InterpolatingDoubleTreeMap tofMap = new InterpolatingDoubleTreeMap(); private static final InterpolatingDoubleTreeMap passingMap = new InterpolatingDoubleTreeMap(); - // TODO: tune real maps static { - speedMap.put(2.11, 14.5); - speedMap.put(2.42, 15.0); + speedMap.put(1.8, 14.5); + speedMap.put(2.01, 14.5); + speedMap.put(2.2, 14.5); + speedMap.put(2.4, 15.0); + speedMap.put(2.6, 15.2); + speedMap.put(2.8, 15.5); speedMap.put(3.0, 16.0); - speedMap.put(3.13, 16.0); - speedMap.put(3.455, 16.5); - speedMap.put(3.77, 17.0); + speedMap.put(3.21, 16.5); + speedMap.put(3.4, 16.7); + speedMap.put(3.6, 17.0); + speedMap.put(3.8, 17.2); + speedMap.put(4.0, 17.6); + + // old speedMap.put(4.23, 18.0); speedMap.put(4.95, 19.0); speedMap.put(5.166, 21.0); - MIN_TOF = 7.0 - 6.31; + MIN_TOF = 5.49 - 4.73; MAX_TOF = 6.9 - 5.4; - tofMap.put(2.11, 7.0 - 6.31); - tofMap.put(2.42, 2.41 - 1.66); - tofMap.put(3.0, 7.52 - 6.57); - tofMap.put(3.13, 2.77 - 1.89); - tofMap.put(3.455, 2.65 - 1.62); - tofMap.put(3.77, 4.45 - 3.44); + tofMap.put(1.8, 5.49 - 4.73); + tofMap.put(2.01, 3.01 - 2.17); + tofMap.put(2.2, 2.78 - 1.88); + tofMap.put(2.4, 4.13 - 3.25); + tofMap.put(2.6, 3.67 - 2.67); + tofMap.put(2.8, 4.42 - 3.47); + tofMap.put(3.0, 4.14 - 3.13); + tofMap.put(3.21, 3.82 - 2.69); + tofMap.put(3.4, 3.03 - 1.91); + tofMap.put(3.6, 5.15 - 4.04); + tofMap.put(3.8, 3.41 - 2.26); + tofMap.put(4.0, 4.0 - 2.82); + + // old tofMap.put(4.23, 3.43 - 2.25); tofMap.put(4.95, 2.64 - 1.33); tofMap.put(5.166, 6.9 - 5.4); @@ -80,30 +102,30 @@ public FiringSolution calculate(ChassisSpeeds velocity, Pose2d position) { Translation2d turretTranslation = turretPose.getTranslation(); - Translation2d leftBump = AllianceUtils.flipToAlliance(FieldConstants.LeftBump.nearLeftCorner); + Translation2d leftTarget = AllianceUtils.flipToAlliance(controller.getLeftTarget()); - Translation2d rightBump = - AllianceUtils.flipToAlliance(FieldConstants.RightBump.farLeftCorner); + Translation2d rightTarget = AllianceUtils.flipToAlliance(controller.getRightTarget()); - Logger.recordOutput("FiringSolver/LeftTarget", new Pose2d(leftBump, Rotation2d.kZero)); - Logger.recordOutput("FiringSolver/RightTarget", new Pose2d(rightBump, Rotation2d.kZero)); + Logger.recordOutput("FiringSolver/LeftTarget", new Pose2d(leftTarget, Rotation2d.kZero)); + Logger.recordOutput("FiringSolver/RightTarget", new Pose2d(rightTarget, Rotation2d.kZero)); Translation2d passTarget = - (turretTranslation.getDistance(leftBump) < turretTranslation.getDistance(rightBump) - ? leftBump - : rightBump); + (turretTranslation.getDistance(leftTarget) < turretTranslation.getDistance(rightTarget) + ? leftTarget + : rightTarget); Logger.recordOutput("FiringSolver/Target", new Pose2d(passTarget, Rotation2d.kZero)); + Translation2d turretToTarget = passTarget.minus(turretTranslation); + Rotation2d turretAngle = - passTarget - .minus(turretTranslation) - .getAngle() - .minus(position.getRotation()) - .minus(Rotation2d.kCCW_Pi_2); + turretToTarget.getAngle().minus(position.getRotation()).minus(Rotation2d.kCCW_Pi_2); + Double turretDistance = turretToTarget.getNorm(); // TODO: tune real passing speed - lastSolution = new FiringSolution(turretAngle, 18.0, true); + lastSolution = + new FiringSolution( + turretAngle, speedMap.get(turretDistance) - passingSpeedOffset.get(), true); return lastSolution; } diff --git a/src/main/java/org/team2342/frc/util/PassingController.java b/src/main/java/org/team2342/frc/util/PassingController.java index ffc63f1..9d1b618 100644 --- a/src/main/java/org/team2342/frc/util/PassingController.java +++ b/src/main/java/org/team2342/frc/util/PassingController.java @@ -9,21 +9,18 @@ import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.geometry.Translation2d; import org.team2342.frc.commands.DriveCommands; -import org.team2342.lib.util.AllianceUtils; import org.team2342.lib.util.EnhancedXboxController; public class PassingController { private final EnhancedXboxController operatorController; - private final Translation2d leftTarget = - AllianceUtils.flipToAlliance(FieldConstants.Outpost.centerPoint); + private final Translation2d leftTarget = FieldConstants.Outpost.centerPoint; private final Translation2d rightTarget = - AllianceUtils.flipToAlliance( - new Translation2d( - FieldConstants.Outpost.centerPoint.getX(), - FieldConstants.fieldWidth - FieldConstants.Outpost.centerPoint.getY())); + new Translation2d( + FieldConstants.Outpost.centerPoint.getX(), + FieldConstants.fieldWidth - FieldConstants.Outpost.centerPoint.getY()); private Translation2d adjustedLeftTarget = leftTarget; private Translation2d adjustedRightTarget = rightTarget;