extrinsic
-0.925655 -0.0269687 0.377405 -0.402259
-0.0541706 -0.977735 -0.20273 -0.365328
0.37447 -0.208103 0.903585 1.84889
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.769739 0.0166406 779 13.7328
