#focal length
24745.1 24731.5
#principal point
1962.85 1167.7
#distortion coeffs
1.19791 2.1775 -0.0168257 -0.0151422
#camera tranformation matrix - Camera to World
0.99767 0.0598546 0.0327442 6.13211 
-0.0584816 0.99743 -0.0413955 -13.0434 
-0.0351378 0.0393841 0.998606 433.477 
0 0 0 1