extrinsic
-0.856059 0.0182065 -0.516558 0.249316 
0.0360283 0.999051 -0.024495 0.00751828 
0.515622 -0.0395798 -0.855902 1.67204 
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 

0.745381 1.705381
