Calibration Data for 61th Scene

#1

How can we query/extract the

  1. translation and rotation matrices
  2. camera_intrinsic
    for a particular scene, example 61th scene, selectively for individual cameras like cam_front, cam_front_right etc. without the help of tokens?
#2

Have a look at the database schema figure (not merged yet to master): https://github.com/nutonomy/nuscenes-devkit/blob/nuscenes_v2.0/docs/schema_nuscenes.md
Translation and rotation are in the ego_pose, intrinsics in calibrated_sensor.
Please refer to the tutorial for more details: https://www.nuscenes.org/tutorial