extrinsic
0.878238 -0.0519782 0.47539 -0.0427806
-0.15852 -0.969515 0.186846 -0.382344
0.451186 -0.239454 -0.859705 1.57487
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.826966 0.0151794 770 12.5151
