extrinsic
-0.527161 0.0881785 -0.845178 0.773011
0.0665679 -0.98726 -0.144522 -0.071137
-0.847154 -0.132448 0.514575 0.754599
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.407849 0.0153421 798 12.6508
