extrinsic
0.470408 0.068063 0.87982 -0.26777
-0.0564641 -0.992656 0.106981 -0.126612
0.880641 -0.100003 -0.46311 1.55086
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.886707 0.014922 765 12.302
