extrinsic
-0.978128 -0.0170212 -0.207304 -0.411071
0.0344699 -0.99613 -0.0808507 -0.181717
-0.205126 -0.0862282 0.97493 1.5314
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.709612 0.0139798 774 11.53
