extrinsic
-0.977652 -0.00335023 -0.210204 -0.333667
0.0224835 -0.995805 -0.0886991 -0.202837
-0.209025 -0.091443 0.973626 1.62444
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.787723 0.0131475 765 10.8456
