extrinsic
0.553798 0.0541866 0.830886 -0.234252
-0.0558224 -0.993219 0.10198 -0.125499
0.830778 -0.102858 -0.547018 1.50767
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.881272 0.0149796 766 12.3556
