extrinsic
0.574523 -0.0651685 -0.81589 0.299329
0.159538 -0.968789 0.189723 -0.326994
-0.802789 -0.239166 -0.546195 1.50783
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.579824 0.00868027 758 7.15947
