{
  "description": "Hand-eye calibration. Find the constant rigid X with A_i X = X B_i for all pairs. Data is noise-free; X is exact. See SPEC.md.",
  "pairs": [
    {
      "A": [
        [
          0.4673255628393741,
          -0.8481339864376095,
          0.24955071501863244,
          -20.970585641415944
        ],
        [
          0.8786139698100486,
          0.47690219862291816,
          -0.024531306594912344,
          -26.416821056730868
        ],
        [
          -0.09820544980544096,
          0.23072285105310966,
          0.9680509571455606,
          -11.757566210490392
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "B": [
        [
          0.6455554916030867,
          -0.7629623021302967,
          -0.03386196670506325,
          -32.72730125816792
        ],
        [
          0.5657023865587889,
          0.5074964874151455,
          -0.6499447092660878,
          -7.114916383427385
        ],
        [
          0.5130681407988491,
          0.400419580926466,
          0.7592267395896206,
          -3.2796599765467533
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ]
    },
    {
      "A": [
        [
          -0.15800355565033636,
          0.22600786758490915,
          -0.9612259464827055,
          0.9232468503665565
        ],
        [
          -0.9584892616853613,
          0.19888069641347517,
          0.20431545176012136,
          32.174253672941276
        ],
        [
          0.23734618521413453,
          0.953607315609425,
          0.1852022569529983,
          43.88086679441943
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "B": [
        [
          -0.3710762046429632,
          0.9218361245098844,
          -0.11189553117247675,
          51.22904224847083
        ],
        [
          -0.8401591580091857,
          -0.28196334936079825,
          0.4632809717984721,
          -9.433257698067067
        ],
        [
          0.39551869685397933,
          0.2659225999531393,
          0.8791189517198982,
          47.970748189264484
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ]
    },
    {
      "A": [
        [
          0.9885677838529969,
          0.14005345956322807,
          -0.05584590577961286,
          -28.886222365032076
        ],
        [
          -0.15029346135181842,
          0.8856700281840437,
          -0.4393181952200077,
          -41.45008907025519
        ],
        [
          -0.012066988143842777,
          0.442689089136887,
          0.8965939761989762,
          24.36455166659241
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "B": [
        [
          0.9369044316065958,
          0.34856702833239245,
          -0.026666698247942853,
          -22.0929151958818
        ],
        [
          -0.3386144447517094,
          0.8858968454363112,
          -0.31705998967306526,
          -35.703029846420726
        ],
        [
          -0.08689271454738476,
          0.3060846386304249,
          0.9480305111931098,
          21.566440538797664
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ]
    },
    {
      "A": [
        [
          0.5962376917951265,
          -0.5772866234771548,
          0.5578895672417302,
          55.57663999903377
        ],
        [
          -0.08646861842678567,
          0.6447010070429305,
          0.7595286627542074,
          57.67927298154689
        ],
        [
          -0.7981377029749831,
          -0.5010995568469174,
          0.3344778635689371,
          -20.0178094392989
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "B": [
        [
          0.3347127308081387,
          -0.8730213169866463,
          0.35468460344630115,
          44.35797598575286
        ],
        [
          0.6807747607020112,
          0.4842787054620752,
          0.5495633363199334,
          31.784572361347912
        ],
        [
          -0.6515467082459077,
          0.05751448098416703,
          0.7564251261367803,
          -7.612489012166321
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ]
    },
    {
      "A": [
        [
          -0.42011074680739413,
          -0.3612177951634574,
          0.8324834321920072,
          33.266811145425514
        ],
        [
          0.9056839978614489,
          -0.22446676278381905,
          0.35965423454069834,
          -22.132598097270396
        ],
        [
          0.056951351473310555,
          0.9050615320864122,
          0.42145007616888647,
          57.289021653394
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "B": [
        [
          0.3560177922869159,
          -0.471625607536714,
          0.8067345399143238,
          25.77763691093348
        ],
        [
          0.528027891920294,
          -0.6107417658847725,
          -0.5900686746118289,
          -50.044267371798796
        ],
        [
          0.7709979746597009,
          0.6360532852832186,
          0.03159654017552982,
          43.756030988383
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ]
    },
    {
      "A": [
        [
          -0.4686043162645692,
          0.5464636564694146,
          -0.694109117456537,
          35.65804843088763
        ],
        [
          -0.21471978402350272,
          0.6916991678150514,
          0.6895271391271456,
          -20.827251589666794
        ],
        [
          0.8569162205998413,
          0.4721543533655522,
          -0.20679665730093771,
          -48.697046487362705
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "B": [
        [
          -0.04859782490589892,
          0.9986006799239426,
          0.02085505861547493,
          20.917561738161282
        ],
        [
          -0.08892195824074406,
          -0.02512240294339052,
          0.995721723280647,
          -31.82834620104687
        ],
        [
          0.9948523190690399,
          0.046535437311679306,
          0.0900184220988337,
          -46.41175269773079
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ]
    },
    {
      "A": [
        [
          0.8588424477093165,
          -0.2045930843074825,
          0.46960762330505346,
          64.74835685386051
        ],
        [
          0.4591180615359829,
          0.7140057758369958,
          -0.5285890252765859,
          -53.72192440517363
        ],
        [
          -0.22715689640446982,
          0.6695800339951611,
          0.7071508484693546,
          3.7361911753855246
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "B": [
        [
          0.9873421790738486,
          -0.035355587987093574,
          0.15461372455183697,
          37.54443826588785
        ],
        [
          0.14043423359791313,
          0.6479466755138987,
          -0.7486276322206208,
          -34.959515534621104
        ],
        [
          -0.07371327869163874,
          0.7608646976227594,
          0.6447102174279197,
          -34.49085634230313
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ]
    },
    {
      "A": [
        [
          0.9799818892302672,
          0.0016345380711437762,
          -0.19907994641844212,
          -3.2749636160168194
        ],
        [
          -0.020237651985788665,
          0.9956043196735403,
          -0.09144657505608839,
          8.342057875882599
        ],
        [
          0.19805538170617284,
          0.09364489806006898,
          0.9757072813321327,
          46.43328823214905
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "B": [
        [
          0.9758239995725702,
          0.13256882715600735,
          -0.17376141091932093,
          25.411298663029342
        ],
        [
          -0.1358364990779435,
          0.9907065638027915,
          -0.006996424537809709,
          -13.791384654660995
        ],
        [
          0.17121906253814237,
          0.030430420709317674,
          0.9847629268605788,
          39.654632554336374
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ]
    }
  ]
}