extrinsic
0.303994 0.0496087 0.951381 0.384144 
0.208151 0.971056 -0.117145 -0.212596 
-0.929656 0.233642 0.284869 0.636041 
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 

0.439779 1.399779
