{
  "description": "Tracked-camera AR overlay: per-frame projection of an imaging plane and a tracked needle into distorted camera pixels. See SPEC.md.",
  "camera": {
    "fx": 1200.0,
    "fy": 1200.0,
    "cx": 960.0,
    "cy": 540.0,
    "dist": {
      "k1": -0.28,
      "k2": 0.11,
      "p1": 0.0009,
      "p2": -0.0006,
      "k3": 0.0
    }
  },
  "static": {
    "T_camref_to_cam": [
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        1.0,
        0.0,
        0.0,
        5.0
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        0.0,
        6.123233995736766e-17,
        -1.0,
        -2.0
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      [
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        6.123233995736766e-17,
        3.0
      ],
      [
        0.0,
        0.0,
        0.0,
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      ]
    ],
    "T_transducer_to_proberef": [
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        0.0,
        0.0
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        1.0,
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    "T_image_to_transducer": [
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      [
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    ],
    "needle": {
      "tip_needleref": [
        0.0,
        0.0,
        100.0
      ],
      "axis_needleref": [
        0.0,
        0.0,
        1.0
      ]
    }
  },
  "frames": [
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      "T_proberef_to_tracker": [
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      "T_needleref_to_tracker": [
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      "T_proberef_to_tracker": [
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      "T_needleref_to_tracker": [
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  ]
}