data/camera/v3det/val/000000001157.json

{
    "intrinsics": [
        [
            2064.482666015625,
            0.0,
            1635.8924560546875
        ],
        [
            -2.4610551918158308e-05,
            2137.2333984375,
            1218.682373046875
        ],
        [
            1.922699333078981e-08,
            0.0,
            1.0
        ]
    ],
    "depth_size": [
        768,
        1024
    ],
    "image_size": [
        2400,
        3200
    ],
    "rotation": [
        [
            0.9983848327897367,
            -0.01803834546636954,
            0.05387340483249018
        ],
        [
            -0.05681307644732391,
            -0.3169905882309099,
            0.9467255364241592
        ],
        [
            0.0,
            0.948257130247834,
            0.3175034093268014
        ]
    ],
    "translation": [
        0.0,
        0.0,
        0.0
    ]
}