extrinsic
-0.753607 -0.0470658 -0.655638 0.114888
0.161485 -0.980122 -0.115256 -0.210644
-0.63718 -0.192733 0.746227 1.20898
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.842811 0.0143299 766 11.8195
