extrinsic
0.819782 0.000769091 0.572675 0.920466 
-0.093765 0.986684 0.132899 0.207499 
-0.564947 -0.162645 0.808938 1.13922 
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 

0.419201 1.379201
