extrinsic
0.995104 -0.0296865 0.0942649 0.21615
-0.0514341 -0.970031 0.237474 -0.257607
0.0843901 -0.24116 -0.966809 1.08838
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.470212 0.0169684 797 13.994
