extrinsic
0.449766 -0.0285062 -0.892691 0.14835
0.226012 -0.963327 0.144634 -0.398184
-0.864077 -0.26681 -0.426829 1.32209
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.448507 0.00760612 766 6.2748
