data/camera/v3det/val/000000000684.json

{
    "intrinsics": [
        [
            2709.49365234375,
            0.0,
            1654.182861328125
        ],
        [
            -3.2299682061420754e-05,
            2444.91845703125,
            1257.0252685546875
        ],
        [
            2.5234127676299067e-08,
            0.0,
            1.0
        ]
    ],
    "depth_size": [
        768,
        1024
    ],
    "image_size": [
        2400,
        3200
    ],
    "rotation": [
        [
            0.9991623847839154,
            -0.0036915671017874766,
            -0.04075415519001625
        ],
        [
            0.04092100723245859,
            0.09013646629123341,
            0.9950883823116469
        ],
        [
            0.0,
            0.9959225822205571,
            -0.09021202925961513
        ]
    ],
    "translation": [
        0.0,
        0.0,
        0.0
    ]
}