extrinsic
0.906946 0.0327293 0.419973 0.0341434 
-0.105443 0.982877 0.15111 0.218191 
-0.407836 -0.181332 0.894868 1.29365 
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 

0.699183 1.659183
