data/camera/v3det/val/000000000396.json

{
    "intrinsics": [
        [
            1531.637939453125,
            0.0,
            1632.378662109375
        ],
        [
            -1.5793644706718624e-05,
            1564.5186767578125,
            1007.3175048828125
        ],
        [
            1.4264490033610855e-08,
            0.0,
            1.0
        ]
    ],
    "depth_size": [
        664,
        1024
    ],
    "image_size": [
        2076,
        3200
    ],
    "rotation": [
        [
            0.9995266036159094,
            0.004699599102598875,
            -0.03040530270067425
        ],
        [
            0.030766356041052004,
            -0.15267893029350807,
            0.9877968291001876
        ],
        [
            0.0,
            0.9882646700215003,
            0.15275124217922106
        ]
    ],
    "translation": [
        0.0,
        0.0,
        0.0
    ]
}