extrinsic
0.626845 0.0425381 -0.777982 0.308974 
0.0671796 0.991839 0.10836 0.0525655 
0.776242 -0.12019 0.618872 1.12316 
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 

0.551320 1.511320
