extrinsic
0.864253 -0.0466911 0.500886 0.53731
-0.175236 -0.961264 0.212754 -0.549337
0.47155 -0.271646 -0.838957 1.83809
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.939847 0.0155205 764 12.7975
