extrinsic
0.955395 0.0273581 0.294061 1.13564 
-0.0327012 0.999377 0.0132676 -0.0111157 
-0.293515 -0.022292 0.955695 1.71374 
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 

0.574813 1.534813
