extrinsic
0.565412 0.0514775 -0.823201 0.192814 
0.0560908 0.99334 0.100643 0.0523502 
0.822899 -0.103079 0.558759 1.22129 
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 

0.632541 1.592541
