extrinsic
-0.740977 -0.0668322 0.668196 -0.476999 
0.0672344 0.982652 0.172841 -0.0604851 
-0.668156 0.172997 -0.723629 1.44235 
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 

0.282877 1.242877
