extrinsic
-0.938677 -0.021409 -0.344134 -0.674747
0.088234 -0.979753 -0.17972 -0.294671
-0.333318 -0.199063 0.92156 1.69166
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.903099 0.0138813 760 11.4529
