extrinsic
0.367715 -0.112687 -0.923086 -0.222526
0.168595 -0.968103 0.185342 -0.126625
-0.914528 -0.223781 -0.336987 0.687713
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.39418 0.00768776 774 6.34451
