extrinsic
-0.772042 0.0663711 -0.632096 -0.95376
0.0803825 -0.97635 -0.200697 -0.358355
-0.630468 -0.205756 0.748448 1.30826
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.820477 0.0157217 773 12.9733
