{
   "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" : 2,
   "Objects" : [
      {
         "ObjectName" : "Block",
         "ObjectPose" : {
            "Angle" : 1.0471980,
            "Axis" : [ 0.0, 0.0, -1.0 ],
            "Translation" : [ 270.0, 99.0, 21.754750 ]
         },
         "Type" : "ANGRYFACE"
      },
      {
         "ObjectName" : "Block",
         "ObjectPose" : {
            "Angle" : 1.0471980,
            "Axis" : [ 0.0, 0.0, 1.0 ],
            "Translation" : [ 270.0, 35.0, 21.754750 ]
         },
         "Type" : "BULLSEYE2"
      }
   ],
   "Poses" : [
      {
         "ImageFile" : "basestation/test/blockWorldTests/visionTest_TwoBlocksOnePose0.png",
         "NumMarkers" : 3,
         "RobotPose" : {
            "Angle" : 0.0,
            "Axis" : [ 1.0, 0.0, 0.0 ],
            "HeadAngle" : -0.3141590,
            "Translation" : [ 105.0, 67.0, 0.0 ]
         },
         "VisionMarkers" : [
            {
               "Name" : "MessageVisionMarker",
               "markerType" : "MARKER_ANGRYFACE",
               "timestamp" : 0,
               "x_imgLowerLeft" : 89.16259002685547,
               "x_imgLowerRight" : 138.5977630615234,
               "x_imgUpperLeft" : 85.44686889648438,
               "x_imgUpperRight" : 137.6525268554688,
               "y_imgLowerLeft" : 83.09143066406250,
               "y_imgLowerRight" : 78.08425140380859,
               "y_imgUpperLeft" : 25.88786125183105,
               "y_imgUpperRight" : 25.04963111877441
            },
            {
               "Name" : "MessageVisionMarker",
               "markerType" : "MARKER_BULLSEYE2",
               "timestamp" : 0,
               "x_imgLowerLeft" : 180.4035644531250,
               "x_imgLowerRight" : 229.8322906494141,
               "x_imgUpperLeft" : 181.3439636230469,
               "x_imgUpperRight" : 233.5337524414062,
               "y_imgLowerLeft" : 78.07593536376953,
               "y_imgLowerRight" : 83.08203887939453,
               "y_imgUpperLeft" : 25.06678199768066,
               "y_imgUpperRight" : 25.87366867065430
            },
            {
               "Name" : "MessageVisionMarker",
               "markerType" : "MARKER_T",
               "timestamp" : 0,
               "x_imgLowerLeft" : 212.0111389160156,
               "x_imgLowerRight" : 200.3208618164062,
               "x_imgUpperLeft" : 109.0938415527344,
               "x_imgUpperRight" : 120.2926483154297,
               "y_imgLowerLeft" : 156.501464843750,
               "y_imgLowerRight" : 124.2575836181641,
               "y_imgUpperLeft" : 156.5325469970703,
               "y_imgUpperRight" : 124.3350677490234
            }
         ]
      }
   ],
   "WorldTitle" : "visionTest_TwoBlocksOnePose"
}