extrinsic
-0.926257 -0.00921479 0.376779 0.203297 
0.0117826 0.998504 0.0533859 0.260175 
-0.376708 0.0538885 -0.924763 1.48102 
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 

0.273164 1.233164
