extrinsic
0.876006 -0.0518237 0.479507 -0.192432
-0.169962 -0.963602 0.206358 -0.397732
0.45136 -0.262268 -0.85293 1.49751
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.792251 0.0149388 772 12.325
