extrinsic
0.950519 -0.0620576 0.304407 0.384049
-0.14527 -0.954907 0.258937 -0.452884
0.274611 -0.290346 -0.916672 1.56127
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.843875 0.0158981 772 13.1172
