extrinsic
0.79396 -0.0133535 0.607823 0.0840794
-0.141526 -0.976353 0.163417 -0.393885
0.591268 -0.215769 -0.777075 1.84789
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.9872 0.0142946 756 11.7939
