Contains the camera matrix K, distortion coefficients, and image size of a camera. The distortion coefficients can be omitted if these is no distortion. The camera matrix should only consist of fx, fy, cx, cy. Some tools read only these four values from it.
Example intrinsics file for a Kinect’s IR sensor:
{
"K": [
[366.882190, 0.0, 257.546861],
[0.0, 368.335082, 209.158971],
[0.0, 0.0, 1.0 ]
],
"distortion": {
"k1": 0.117712331292285,
"k2": -0.342256099858845,
"k3": 0.163986668762415,
"p1": 0.0,
"p2": 0.0
},
"height": 424,
"width": 512
}