extrinsic
0.99962 -0.0142978 0.0235744 -0.634375
-0.019901 -0.965934 0.258024 -0.339583
0.0190821 -0.258395 -0.965851 1.25581
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.374372 0.00649895 767 5.35907
