extrinsic
-0.128549 -0.0537267 -0.990247 -0.366443
0.251113 -0.967753 0.0199079 -0.205208
-0.959384 -0.246105 0.137895 1.14677
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.782203 0.0130731 765 10.7831
