extrinsic
-0.298075 0.0185245 -0.954363 -0.712823
0.209126 -0.974255 -0.0842269 -0.222689
-0.931352 -0.224688 0.286527 0.849341
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.630176 0.0146493 782 12.0859
