extrinsic
0.344531 0.119492 0.931139 0.195163
-0.0665825 -0.986258 0.151202 -0.160483
0.936411 -0.114091 -0.33184 1.71264
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.826845 0.0142088 767 11.725
