extrinsic
0.917125 -0.0582651 0.394319 0.675505
-0.160617 -0.95941 0.231807 -0.519833
0.364807 -0.27593 -0.889257 1.76963
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.911254 0.0161671 769 13.3437
