extrinsic
0.276238 -0.113789 -0.954329 -0.135221
0.159466 -0.973776 0.162267 -0.16765
-0.947768 -0.197007 -0.250848 0.924396
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.42418 0.00909873 778 7.50299
