extrinsic
0.910928 -0.110382 -0.397524 -0.138418
0.0651181 -0.912997 0.402735 -0.554777
-0.407393 -0.392749 -0.824487 1.2918
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.408646 0.00674301 764 5.56031
