extrinsic
-0.0419536 0.0345389 0.998522 -1.06584 
0.0386751 0.998709 -0.0329204 -0.0359207 
-0.998371 0.0372368 -0.0432353 1.1831 
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 

0.339858 1.299858
