extrinsic
0.217695 -0.0342697 -0.975415 0.278477
0.234458 -0.968284 0.086346 -0.366671
-0.947438 -0.247491 -0.202756 1.30751
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.499835 0.00720052 755 5.93623
