extrinsic
0.4272 0.0812001 0.900503 -0.209048
-0.0523295 -0.992069 0.114282 -0.133227
0.902641 -0.0959441 -0.419563 1.61511
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.926068 0.0147924 762 12.1979
