data/camera/coco/val/000000016228.json

{
    "intrinsics": [
        [
            2770.811767578125,
            0.0,
            1346.277587890625
        ],
        [
            -3.0278095437097363e-05,
            2870.079345703125,
            927.9531860351562
        ],
        [
            3.225649436444655e-08,
            0.0,
            1.0
        ]
    ],
    "depth_size": [
        704,
        1024
    ],
    "image_size": [
        1760,
        2560
    ],
    "rotation": [
        [
            0.9992747904613036,
            -0.0014416091516433456,
            0.03805016309520356
        ],
        [
            -0.0380774624747723,
            -0.037832449677809486,
            0.9985583671487903
        ],
        [
            0.0,
            0.9992830567534056,
            0.037859906042805876
        ]
    ],
    "translation": [
        0.0,
        0.0,
        0.0
    ]
}