extrinsic
-0.616448 0.0263565 0.786954 -0.0525109 
-0.00183783 0.999389 -0.034911 0.0428322 
-0.787393 -0.0229671 -0.616023 2.28809 
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 

0.722581 1.682581
