extrinsic
-0.987642 -0.00107412 -0.156724 0.350538 
-0.0187048 0.993637 0.111064 -0.234744 
0.155608 0.112623 -0.981378 2.07635 
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 

0.718028 1.678028
