extrinsic
0.677775 0.0427591 0.734025 -0.121874
-0.0550759 -0.992551 0.108674 -0.133679
0.733204 -0.114084 -0.670371 1.42934
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.864794 0.0154171 769 12.7205
