extrinsic
0.385918 -0.112469 -0.915652 -0.128522
0.224064 -0.951393 0.211295 -0.262329
-0.894909 -0.286708 -0.34196 0.910092
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.462819 0.00751323 763 6.19542
