data/camera/coco/train/000000006057.json

{
    "intrinsics": [
        [
            5072.68017578125,
            0.0,
            1380.183837890625
        ],
        [
            -5.3794046834809706e-05,
            5261.4990234375,
            828.1261596679688
        ],
        [
            5.905376809778318e-08,
            0.0,
            1.0
        ]
    ],
    "depth_size": [
        683,
        1024
    ],
    "image_size": [
        1708,
        2560
    ],
    "rotation": [
        [
            0.9999194640457667,
            -0.0010485484482901978,
            0.012647765359077108
        ],
        [
            -0.012691155283372854,
            -0.08261375572434969,
            0.996500828872054
        ],
        [
            0.0,
            0.9965810894810663,
            0.08262040963787902
        ]
    ],
    "translation": [
        0.0,
        0.0,
        0.0
    ]
}