extrinsic
0.435094 0.105216 0.894216 0.0731624
-0.0571994 -0.987913 0.144071 -0.136234
0.898566 -0.113833 -0.423817 1.67126
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.877706 0.014551 765 12.0092
