extrinsic
0.998845 0.0341936 0.0337498 0.72759 
-0.0353579 0.998778 0.0345288 0.0424096 
-0.0325279 -0.0356823 0.998834 2.07368 
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 

0.658208 1.618208
