extrinsic
0.335268 -0.028691 -0.941686 0.217972
0.23204 -0.966231 0.112052 -0.389844
-0.913101 -0.256076 -0.317289 1.33296
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.484646 0.00757207 761 6.24699
