extrinsic
-0.8268 -0.0122011 0.562363 -0.1416
-0.102876 -0.979621 -0.172506 -0.358194
0.553008 -0.200482 0.808696 1.87494
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.773686 0.0138966 769 11.4602
