extrinsic
-0.75996 0.0854458 0.644329 -0.484201 
-0.122788 0.954598 -0.271415 0.627145 
-0.638266 -0.28538 -0.714965 1.28593 
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 

0.274451 1.234451
