extrinsic
-0.489795 -0.0107158 -0.871772 -0.561645
0.239133 -0.963227 -0.122514 -0.323532
-0.838401 -0.268477 0.474346 1.37873
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.861197 0.0144848 766 11.9566
