extrinsic
-0.490733 0.0523615 -0.869735 -0.567017
0.00304436 -0.998084 -0.0618063 -0.147127
-0.871305 -0.0329782 0.489633 1.08468
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.73613 0.015588 778 12.8636
