extrinsic
-0.897164 0.00542116 -0.441664 0.710222 
-0.0709521 0.985171 0.15622 -0.299431 
0.435961 0.171492 -0.883475 1.3927 
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 

0.446113 1.406113
