extrinsic
0.571639 -0.0614404 -0.818201 0.262228
0.198421 -0.957243 0.210509 -0.418105
-0.796152 -0.282684 -0.535007 1.47544
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.571394 0.00824991 756 6.80833
