extrinsic
0.053846 0.0374281 0.997848 -1.13897 
0.115009 0.992415 -0.0434304 -0.155425 
-0.991904 0.1171 0.049133 1.10281 
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 

0.344222 1.304222
