extrinsic
0.439075 0.0338242 -0.897813 0.15914
0.173616 -0.98365 0.0478489 -0.382218
-0.881516 -0.176884 -0.437769 1.45767
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.529758 0.00817302 760 6.74125
