extrinsic
0.581211 0.0323529 -0.813109 0.275859 
0.0829905 0.991643 0.0987783 0.047576 
0.80951 -0.124891 0.573669 1.04632 
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 

0.475810 1.435810
