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+ Intrinsic Parameters (K):
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+ [[1.38564065e+03 0.00000000e+00 8.00000000e+02]
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+ [0.00000000e+00 1.38564065e+03 4.50000000e+02]
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+ [0.00000000e+00 0.00000000e+00 1.00000000e+00]]