extrinsic
-0.971344 0.0474033 -0.232904 -0.263457
-0.00171175 -0.981279 -0.192582 -0.351865
-0.237673 -0.186665 0.953241 1.6324
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.840903 0.0137981 764 11.3827
