Camera transformations

[yahiatk3]

Thank you for publishing this dataset. I have a question about the 4x4 rigid transformation matrices in the camma_mvor_2018.json file:

"extrinsics": [[1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1], [-0.9827532061654909, 0.04488368874450566, 0.17939228036940189, -496.2376185870553, 0.1848305389349967, 0.26891529014386256, 0.9452630525963875, -2260.755645548191, -0.005814434490689473, 0.9621174674703332, -0.27257323995584165, 3156.004317369521, 0, 0, 0, 1], [0.3285373775045781, -0.5371821653378832, 0.7768516671960721, -2495.61272184281, 0.542788750504468, 0.7805020660063311, 0.3101562465687994, -639.2777808976291, -0.7729447353518953, 0.31976842590029225, 0.5480005382196593, 908.3081896399808, 0, 0, 0, 1]]

Is this specifying that the translational vector for:
cam2 relative to cam1 = <-496.24, -2260.76, 3156.00> ?
cam3 relative to cam1 = <-2495.61, -639.63, 908.31> ?

Are these units in mm? And in what directions are the x,y,z axes defined?