extrinsic
0.970644 0.0176988 -0.239869 1.22081 
-0.0112429 0.999537 0.0282557 0.0802634 
0.240259 -0.0247294 0.970394 2.89524 
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 

1.042090 2.002090
