extrinsic
0.611321 0.0062251 -0.791358 0.135724
0.167138 -0.978429 0.121416 -0.460271
-0.773532 -0.20649 -0.599174 1.62336
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.652441 0.010054 760 8.29345
