extrinsic
-0.776981 0.0875503 0.623407 -0.474035 
-0.111802 0.955349 -0.273512 0.62238 
-0.619517 -0.282212 -0.732499 1.30215 
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 

0.287776 1.247776
