extrinsic
0.804607 -0.0184396 -0.593521 0.0624561
0.124592 -0.972026 0.199102 -0.352639
-0.58059 -0.234147 -0.779802 1.55023
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.576212 0.00745962 748 6.15601
