extrinsic
-0.0876814 -0.0571792 -0.994506 -0.0704775
0.237683 -0.970717 0.0348559 -0.231142
-0.967377 -0.233321 0.0987043 1.17314
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.703983 0.0124468 768 10.2631
