extrinsic
0.843727 0.0316935 0.535835 1.31004 
-0.120981 0.983798 0.132307 0.183423 
-0.522961 -0.176457 0.833892 1.55033 
0.0 0.0 0.0 1.0 

intrinsic
1161.49 0.0 961.743 
0.0 1161.49 543.535 
0.0 0.0 1.0 

0.691643 1.651643
