extrinsic
-0.256446 -0.0331103 -0.965991 -0.593994
0.267947 -0.962679 -0.0381363 -0.262396
-0.928676 -0.268614 0.255747 1.20274
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.807689 0.0133014 764 10.97
