extrinsic
0.410214 -0.130723 -0.902572 -0.00405236
0.253197 -0.934443 0.250415 -0.37333
-0.876137 -0.331252 -0.350223 1.04369
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.443451 0.00706859 762 5.82971
