extrinsic
0.596007 -0.037948 -0.802082 0.160083
0.204444 -0.958793 0.19728 -0.450672
-0.776517 -0.281561 -0.563689 1.42066
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.515108 0.0071486 753 5.89801
