extrinsic
0.413486 0.113696 0.903384 0.1821
-0.0638186 -0.986114 0.153319 -0.155764
0.908271 -0.121048 -0.400488 1.67084
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.838432 0.014343 766 11.8251
