extrinsic
-0.989197 0.0184843 -0.145422 0.414812 
0.000687975 0.992593 0.121487 -0.306557 
0.14659 0.120074 -0.981883 2.02783 
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 

0.679915 1.639915
