extrinsic
-0.068582 -0.0616228 -0.995741 -0.649915
0.236225 -0.970711 0.0438038 -0.122358
-0.969275 -0.232214 0.0811301 0.67211
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.4982 0.0133218 787 10.9824
