extrinsic
-0.65429 0.0424828 0.75505 -0.150153 
0.125225 0.990724 0.0527709 -0.256986 
-0.745804 0.129078 -0.65354 1.49979 
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 

0.253127 1.213127
