3.742142e-01 3.651231e-02 -3.160641e-01 2.621757e+02
-7.005250e-02 6.924461e-01 -5.343088e-02 1.144264e+02
3.617874e-04 1.363742e-04 2.573733e-04 1.000000e+00

Intrinsic parameters
a:     -0.2673789710
b:      0.0009789240
c:     -0.0000016907
d:     -0.1732207933
e:      0.0006753064
au:   1021.5297974156
av:   1480.8093530454
u0:    273.1355861260
v0:    256.5069708363

Extrinsic parameters

Translation (in mm) 
tx:   -23.5160232940
ty:  -206.5767325903
tz:  2153.0084398370

Rotation axis
ax:     0.2770639319
ay:    -0.9445500469
az:    -0.1379767223

Rotation angle (in degrees)
dg:    56.9502983744