extrinsic
0.768802 0.0121125 -0.639372 0.293284 
-0.0128973 0.999911 0.00343445 -0.00348592 
0.639357 0.00560579 0.76889 2.64391 
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 

0.767369 1.727369
