extrinsic
-0.9674 0.00690713 -0.25316 0.183847 
0.0230309 0.997885 -0.060782 0.0908457 
0.252205 -0.064631 -0.965513 1.99881 
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 

0.787737 1.747737
