extrinsic
-0.946951 0.00777128 -0.321283 -0.237536
0.0154424 -0.997453 -0.0696418 -0.149457
-0.321006 -0.0709088 0.944419 1.30354
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.713208 0.0141198 774 11.6419
