{
   "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" : false,
   "NumObjects" : 1,
   "Objects" : [
      {
         "ObjectName" : "Block",
         "ObjectPose" : {
            "Angle" : 0.7853979999999999,
            "Axis" : [ 0.0, 0.0, 1.0 ],
            "Translation" : [ 150.0, 0.0, 21.754750 ]
         },
         "Type" : "ANGRYFACE"
      }
   ],
   "Poses" : [
      {
         "ImageFile" : "basestation/test/blockWorldTests/visionTest_PoseCluster0.png",
         "NumMarkers" : 2,
         "RobotPose" : {
            "Angle" : 0.0,
            "Axis" : [ 1.0, 0.0, 0.0 ],
            "HeadAngle" : -0.1745330,
            "Translation" : [ 0.0, 0.0, 0.0 ]
         },
         "VisionMarkers" : [
            {
               "Name" : "MessageVisionMarker",
               "markerType" : "MARKER_ANGRYFACE",
               "timestamp" : 0,
               "x_imgLowerLeft" : 106.7347259521484,
               "x_imgLowerRight" : 142.7042694091797,
               "x_imgUpperLeft" : 105.3787002563477,
               "x_imgUpperRight" : 142.4030303955078,
               "y_imgLowerLeft" : 132.2046356201172,
               "y_imgLowerRight" : 140.6939239501953,
               "y_imgUpperLeft" : 77.87564086914062,
               "y_imgUpperRight" : 79.76869964599609
            },
            {
               "Name" : "MessageVisionMarker",
               "markerType" : "MARKER_ANGRYFACE",
               "timestamp" : 0,
               "x_imgLowerLeft" : 176.2904052734375,
               "x_imgLowerRight" : 212.2632293701172,
               "x_imgUpperLeft" : 176.5984039306641,
               "x_imgUpperRight" : 213.6165313720703,
               "y_imgLowerLeft" : 140.6889953613281,
               "y_imgLowerRight" : 132.2106933593750,
               "y_imgUpperLeft" : 79.76690673828125,
               "y_imgUpperRight" : 77.87814331054688
            }
         ]
      }
   ],
   "WorldTitle" : "visionTest_PoseCluster"
}