def get_translation(pp):
    """Separate intrinsic matrix from translation and convert in lists"""
    kk = pp[:, :-1]
    f_x = kk[0, 0]
    f_y = kk[1, 1]
    x0, y0 = kk[(2), 0:2]
    aa, bb, t3 = pp[0:3, (3)]
    t1 = float((aa - x0 * t3) / f_x)
    t2 = float((bb - y0 * t3) / f_y)
    tt = [t1, t2, float(t3)]
    return kk.tolist(), tt
