extrinsic
-0.243623 0.0122502 0.969793 0.511782 
-0.18305 0.981369 -0.0583808 0.0855426 
-0.952439 -0.191744 -0.236842 0.499004 
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 

0.482890 1.442890
