extrinsic
0.997646 -0.0516087 0.0451645 -0.237015
-0.0614984 -0.964688 0.256115 -0.352425
0.0303519 -0.258289 -0.965591 1.29551
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.410883 0.00796209 773 6.56558
