extrinsic
0.879119 0.0202174 0.476173 0.31727 
-0.0964651 0.985969 0.136233 0.268352 
-0.466737 -0.165699 0.868735 1.3418 
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 

0.674520 1.634520
