extrinsic
-0.720969 -0.0345226 0.692107 -0.0660628
-0.20582 -0.94302 -0.261441 -0.534182
0.661697 -0.33094 0.672783 1.58012
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.559452 0.0142424 786 11.754
