extrinsic
0.669504 0.0169786 0.742614 -0.128917
-0.140022 -0.978931 0.148618 -0.391214
0.729491 -0.203483 -0.653021 1.9516
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

1.05131 0.0144016 752 11.8813
