extrinsic
0.990887 -0.12285 -0.0552346 -0.219975
-0.0897358 -0.907897 0.409477 -0.517923
-0.100452 -0.400789 -0.910647 1.23268
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.393366 0.00791964 775 6.53109
