extrinsic
0.118193 0.0227339 0.99273 -0.696284 
-0.0174902 0.99963 -0.0208095 0.0400553 
-0.992837 -0.0149035 0.118547 1.92085 
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 

1.037470 1.997470
