extrinsic
0.581467 0.028851 -0.813059 0.0340339
0.174151 -0.98062 0.0897492 -0.42609
-0.794712 -0.193781 -0.575222 1.57576
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.611978 0.00935829 760 7.72428
