extrinsic
-0.978078 -0.0368268 -0.204956 -0.534637
0.0764538 -0.979008 -0.188938 -0.287402
-0.193696 -0.200466 0.960362 1.81623
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.917832 0.0141721 760 11.6886
