extrinsic
-0.984967 -0.0275975 0.170522 -0.655435
-0.0112349 -0.974831 -0.222663 -0.376329
0.172375 -0.221231 0.959866 1.79654
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.780389 0.0157923 775 13.0194
