extrinsic
0.525873 0.053349 0.848888 -0.343209
-0.163516 -0.973074 0.162449 -0.253725
0.834697 -0.224234 -0.50299 1.12724
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.587377 0.014153 783 11.6692
