extrinsic
-0.662649 -0.0249242 -0.748515 -0.344913
0.203588 -0.967805 -0.148007 -0.340092
-0.720728 -0.250465 0.646389 1.44518
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.825587 0.0147483 769 12.167
