extrinsic
0.992416 0.0348041 -0.117898 0.882238 
-0.0301697 0.998709 0.0408683 0.0763896 
0.119169 -0.0370014 0.992184 2.69195 
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 

1.018320 1.978320
