extrinsic
-0.942531 -0.0208857 -0.333465 -0.431458
0.0836417 -0.981015 -0.174968 -0.288027
-0.323479 -0.192805 0.926384 1.49796
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.778544 0.0135288 767 11.1551
