extrinsic
0.335702 -0.117478 -0.934614 -0.285991
0.173842 -0.967423 0.184044 -0.105195
-0.925788 -0.224259 -0.304343 0.646996
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.365233 0.00850143 782 7.01335
