extrinsic
0.892496 -0.00391541 -0.451037 -0.0483417
0.102233 -0.972183 0.210734 -0.359921
-0.439316 -0.23419 -0.86727 1.57472
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.579692 0.00748441 748 6.17803
