extrinsic
0.451109 0.0932322 0.887586 -0.0369257
-0.0547784 -0.989761 0.131805 -0.140266
0.890786 -0.108079 -0.441383 1.6405
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.891485 0.0147454 765 12.1717
