extrinsic
-0.843319 0.0583118 -0.53424 0.0303882
-0.0316248 -0.997758 -0.0589833 -0.0957242
-0.536482 -0.0328465 0.843272 1.14648
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.742545 0.0149608 775 12.3372
