extrinsic
0.915591 0.0190146 0.401662 1.0607 
-0.0820105 0.986716 0.140233 0.213007 
-0.39366 -0.161336 0.904988 1.74371 
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 

0.719017 1.679017
