extrinsic
-0.768979 -0.0385683 -0.638109 -0.0466191
0.172349 -0.973726 -0.148842 -0.295246
-0.615603 -0.224434 0.755422 1.42103
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.899976 0.0146625 764 12.1021
