extrinsic
-0.614671 0.0266504 0.788333 0.0402305 
-0.00751562 0.999186 -0.0396385 0.0184769 
-0.788748 -0.0302894 -0.61397 2.17478 
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 

0.794640 1.754640
