extrinsic
0.880278 -0.00993304 -0.474355 -0.161374
0.109095 -0.968755 0.222737 -0.402441
-0.461746 -0.24782 -0.85169 1.48697
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.508925 0.00723618 755 5.97224
