extrinsic
0.264742 0.0479782 0.963125 0.337547
-0.235027 -0.965433 0.112697 -0.307342
0.93524 -0.256196 -0.244315 1.35634
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.566378 0.0130818 782 10.7963
