extrinsic
0.779176 -0.00883337 -0.626742 0.0165778
0.139177 -0.972502 0.186734 -0.452004
-0.611158 -0.232727 -0.756521 1.57432
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.60289 0.0127095 777 10.4782
