extrinsic
-0.997869 -0.0349108 -0.0551157 -0.781013
0.046446 -0.973403 -0.224344 -0.374091
-0.0458177 -0.226426 0.97295 1.7875
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.870069 0.0146182 765 12.053
