extrinsic
0.97239 -0.00673229 -0.233264 -0.4323
0.0525831 -0.967556 0.247124 -0.362245
-0.22736 -0.252567 -0.940488 1.38353
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.423924 0.00673589 762 5.55667
