{
  "schema_version": 1,
  "sensor_id": "demo_front_camera",
  "sensor_type": "front_camera",
  "frame_id": "front_camera_link",
  "target_board_id": "front_camera_checkerboard",
  "target_type": "charuco",
  "detections": [
    {
      "stamp_us": 1770000000000000,
      "source_file": "sensor/front_camera/images/front_camera_000000.png",
      "target_detected": true,
      "quality_score": 0.97,
      "corners": [
        {"id": 0, "u_px": 350.2, "v_px": 210.4},
        {"id": 1, "u_px": 410.1, "v_px": 211.0}
      ],
      "target_pose_in_sensor": {
        "translation_xyz_m": [0.8, 0.0, 0.2],
        "rotation_xyzw": [0.0, 0.0, 0.0, 1.0]
      }
    }
  ]
}
