extrinsic
0.221238 0.107277 0.969302 0.203801
-0.0846482 -0.988068 0.128674 -0.176091
0.971539 -0.110517 -0.209517 1.74593
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.782683 0.0143625 770 11.8418
