extrinsic
0.997021 0.0134498 -0.0759484 -0.254372
0.0314056 -0.970147 0.240477 -0.403933
-0.0704467 -0.242145 -0.967679 1.53807
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.591906 0.0157612 787 12.996
