3.862770e-01 3.832398e-02 -2.987292e-01 1.588456e+02
-7.069508e-02 6.888202e-01 -5.106577e-02 1.074836e+02
3.713932e-04 1.300881e-04 2.838550e-04 1.000000e+00

Intrinsic parameters

a:     -0.2774598678
b:      0.0010281675
c:     -0.0000024761
d:     -0.1465707269
e:      0.0007062963
au:    972.6041545974
av:   1415.8362899856
u0:    269.8586201851
v0:    207.5201541609

Extrinsic parameters

Translation (in mm) 
tx:  -235.7865205052
ty:  -145.6181366830
tz:  2060.9600838451

Rotation axis
ax:     0.2504821112
ay:    -0.9128646936
az:    -0.1277613601

Rotation angle (in degrees)
dg:    54.7283036848