extrinsic
-0.933671 -0.0218022 -0.357468 -0.553823
0.0884474 -0.981264 -0.171168 -0.291169
-0.347038 -0.191432 0.918106 1.61935
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.839249 0.0139092 765 11.4798
