extrinsic
-0.778004 -0.040135 -0.626976 0.074029
0.162439 -0.976874 -0.139035 -0.25326
-0.606897 -0.210015 0.766531 1.31946
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.805088 0.0143531 769 11.8426
