extrinsic
-0.995569 -0.0283286 0.0896702 0.0500047
0.0105537 -0.981181 -0.192802 -0.299844
0.0934445 -0.191001 0.977132 1.30399
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.619877 0.0153441 784 12.6497
