extrinsic
-0.999513 0.0186402 0.0250314 0.147577
-0.0228457 -0.983416 -0.179917 -0.298454
0.0212626 -0.180402 0.983363 1.39519
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.67808 0.0150131 780 12.3883
