#focal length
4518.9 4521.1
#principal point
1205.99 865.071
#distortion coeffs
-0.180138 0.211267 0.000105849 -0.00039156
#camera tranformation matrix - Camera to World
0.997436 0.00492684 0.0713943 -13.3901 
-0.0190444 0.979928 0.198442 86.7835 
-0.0689836 -0.199293 0.977509 404.872 
0 0 0 1