extrinsic
0.969222 0.0406766 0.242803 -0.509856 
-0.0222276 0.996686 -0.0782458 -0.146969 
-0.245181 0.0704406 0.966915 1.11526 
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 

0.738476 1.698476
