extrinsic
0.668824 -0.0445749 -0.742083 0.228358
0.143256 -0.971765 0.187485 -0.326468
-0.729488 -0.231702 -0.643554 1.51173
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.565941 0.00841955 758 6.94796
