extrinsic
-0.931783 -0.0389946 0.360916 -0.431863
-0.0927687 -0.935624 -0.34059 -0.517654
0.350963 -0.350838 0.868181 1.4465
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.475246 0.0124065 787 10.2391
