extrinsic
0.927953 0.0426332 0.370251 0.0855531
-0.0416361 -0.975359 0.216661 -0.281442
0.370364 -0.216467 -0.903312 1.15803
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.57781 0.0158179 788 13.0423
