extrinsic
0.380227 -0.123851 -0.916563 -0.0567553
0.238306 -0.944415 0.226473 -0.325344
-0.893665 -0.304534 -0.329578 0.994599
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.46026 0.00742452 763 6.12517
