extrinsic
-0.690772 -0.0534585 -0.721094 0.115669
0.161286 -0.983529 -0.0815895 -0.170722
-0.704855 -0.172662 0.688017 1.18072
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.822146 0.0144582 768 11.9261
