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c 
focal length = [1244.530884 1247.264404] 
principle point = [277.037384 264.942871] 
distortion = [-0.128109 0.285157 -0.004222 0.000000] 
translation = [1.640930 -1.584004 33.918678] 
rotation matrix = 
[-0.646930 -0.756664 -0.094553 
 -0.563759 0.558085 -0.608865 
 0.513475 -0.340588 -0.787618]