extrinsic
0.526159 -0.0325814 -0.849762 0.145476
0.21673 -0.96113 0.171047 -0.42648
-0.822305 -0.274167 -0.498646 1.37075
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.478977 0.00783054 764 6.46151
