extrinsic
-0.84273 0.0939653 0.530073 -0.342807 
-0.0786394 0.952599 -0.29389 0.62544 
-0.532562 -0.289354 -0.795394 1.35261 
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 

0.306075 1.266075
