extrinsic
0.380217 -0.00406444 -0.924888 0.323938 
0.128902 0.990464 0.0486385 0.0639528 
0.915871 -0.137713 0.377115 0.997037 
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 

0.476165 1.436165
