#focal length
24831.3 24813.9
#principal point
2004.32 1210.92
#distortion coeffs
1.17946 3.23576 -0.0148223 -0.0126443
#camera tranformation matrix - Camera to World
0.989051 0.0620485 0.133898 49.9409 
-0.0562206 0.997317 -0.0468787 -16.3726 
-0.136448 0.0388376 0.989886 426.161 
0 0 0 1