extrinsic
-0.171907 -0.0436015 -0.984148 -0.509988
0.256962 -0.966419 -0.00206892 -0.221863
-0.951009 -0.253244 0.177338 1.16732
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.801781 0.0133252 765 10.9956
