extrinsic
0.963752 -0.00863041 0.266661 0.678071
-0.0468728 -0.989408 0.137384 -0.219859
0.26265 -0.144903 -0.953949 1.55532
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.901349 0.0173761 773 14.3331
