extrinsic
-0.99033 -0.0165911 -0.137733 -0.271308
0.0290144 -0.995637 -0.0886869 -0.205958
-0.13566 -0.0918255 0.986491 1.67189
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.785071 0.0129728 764 10.6963
