extrinsic
-0.254008 0.0268849 0.966828 0.197813 
-0.0475211 0.998059 -0.0402382 0.0606717 
-0.966034 -0.0561656 -0.252238 1.8399 
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 

0.837488 1.797488
