extrinsic
0.870432 -0.0582934 0.488825 0.602357
-0.158551 -0.973251 0.166264 -0.474663
0.466057 -0.222225 -0.856392 1.84818
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.912986 0.0158846 767 13.0965
