extrinsic
-0.345945 -0.0184416 -0.938074 -0.63774
0.263765 -0.961398 -0.0783717 -0.287582
-0.900417 -0.274543 0.337455 1.26645
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.83325 0.013791 764 11.3696
