extrinsic
0.690739 -0.126766 -0.711906 -0.105191
0.192027 -0.917007 0.349606 -0.507271
-0.697141 -0.378192 -0.60907 1.22978
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.374562 0.00671179 769 5.53593
