{
   "CameraCalibration" : {
      "center_x" : 160.0,
      "center_y" : 120.0,
      "focalLength_x" : 338.5799865722656,
      "focalLength_y" : 338.5799865722656,
      "ncols" : 320,
      "nrows" : 240,
      "skew" : 0.0
   },
   "CheckRobotPose" : true,
   "NumObjects" : 1,
   "Objects" : [
      {
         "ObjectName" : "Block",
         "ObjectPose" : {
            "Angle" : 0.7853979999999999,
            "Axis" : [ 0.0, 0.0, 1.0 ],
            "Translation" : [ 145.0, 60.0, 21.754750 ]
         },
         "Type" : "FIRE"
      }
   ],
   "Poses" : [
      {
         "ImageFile" : "basestation/test/blockWorldTests/visionTest_OffTheMat0.png",
         "NumMarkers" : 2,
         "RobotPose" : {
            "Angle" : 1.0471980,
            "Axis" : [ 0.0, 0.0, 1.0 ],
            "HeadAngle" : -0.3839720,
            "Translation" : [ -15.0, -115.0, 44.0 ]
         },
         "VisionMarkers" : [
            {
               "Name" : "MessageVisionMarker",
               "markerType" : "MARKER_FIRE",
               "timestamp" : 0,
               "x_imgLowerLeft" : 207.3167572021484,
               "x_imgLowerRight" : 243.4693145751953,
               "x_imgUpperLeft" : 209.4806671142578,
               "x_imgUpperRight" : 247.4254913330078,
               "y_imgLowerLeft" : 100.1778411865234,
               "y_imgLowerRight" : 103.5583724975586,
               "y_imgUpperLeft" : 65.4040527343750,
               "y_imgUpperRight" : 67.66728210449219
            },
            {
               "Name" : "MessageVisionMarker",
               "markerType" : "MARKER_M",
               "timestamp" : 0,
               "x_imgLowerLeft" : 117.8550338745117,
               "x_imgLowerRight" : 160.4349670410156,
               "x_imgUpperLeft" : 101.0486984252930,
               "x_imgUpperRight" : 139.8022003173828,
               "y_imgLowerLeft" : 133.0000762939453,
               "y_imgLowerRight" : 124.0433807373047,
               "y_imgUpperLeft" : 117.6274948120117,
               "y_imgUpperRight" : 110.1590118408203
            }
         ]
      }
   ],
   "WorldTitle" : "visionTest_OffTheMat"
}