extrinsic
-0.0176402 -0.0494411 -0.998621 0.174237
0.233796 -0.971291 0.0439581 -0.27132
-0.972126 -0.232698 0.0286929 1.22555
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.53434 0.0110421 777 9.11402
