extrinsic
-0.336344 0.0428052 0.940766 -0.504696 
-0.292449 0.94483 -0.147547 0.447997 
-0.89518 -0.324752 -0.30527 1.46037 
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 

0.435246 1.395246
