extrinsic
0.281851 0.118211 0.952148 0.18264
-0.0743832 -0.986702 0.14452 -0.1709
0.956571 -0.111557 -0.26931 1.71442
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.789168 0.0141752 769 11.6899
