extrinsic
0.151054 0.0134913 0.988433 0.304119
-0.0947298 -0.995108 0.0280592 -0.149466
0.983976 -0.0978725 -0.149037 1.73507
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.742068 0.0146676 774 12.0948
