extrinsic
0.855589 -0.0388038 0.516199 0.0207274
-0.152966 -0.971607 0.180501 -0.386134
0.494538 -0.233396 -0.837233 1.64334
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.86953 0.014906 767 12.3024
