data/camera/coco/val/000000016010.json

{
    "intrinsics": [
        [
            3290.12890625,
            0.0,
            1369.028564453125
        ],
        [
            -3.848598862532526e-05,
            3134.98828125,
            991.3175048828125
        ],
        [
            3.830214012623401e-08,
            0.0,
            1.0
        ]
    ],
    "depth_size": [
        753,
        1024
    ],
    "image_size": [
        1884,
        2560
    ],
    "rotation": [
        [
            0.9999940906846397,
            -0.00021569170348815565,
            -0.003431045451403157
        ],
        [
            0.0034378184653276727,
            0.06274049402934392,
            0.9980239535267443
        ],
        [
            0.0,
            0.9980298511998741,
            -0.06274086478489992
        ]
    ],
    "translation": [
        0.0,
        0.0,
        0.0
    ]
}