extrinsic
0.999716 0.0236945 -0.00238189 0.746217 
-0.0222741 0.965767 0.258454 0.511818 
0.00842429 -0.258328 0.966021 1.64008 
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 

0.400518 1.360518
