extrinsic
0.812986 -0.0214606 0.581887 0.0178197
-0.149442 -0.973538 0.172888 -0.397575
0.562779 -0.227514 -0.79468 1.75528
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.949747 0.0141885 758 11.7046
