extrinsic
0.33257 0.0199678 0.942867 -1.1135 
-0.0607904 0.998151 0.000303566 0.179978 
-0.941117 -0.0574183 0.333168 1.66267 
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 

1.013430 1.973430
