extrinsic
-0.900014 0.0263339 0.435066 0.152416 
0.217662 0.891954 0.396285 -0.509699 
-0.377623 0.451359 -0.808502 1.4063 
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 

0.195086 1.155086
