extrinsic
-0.991351 -0.0480895 -0.122107 -0.489375
0.073719 -0.973833 -0.214977 -0.325424
-0.108574 -0.222119 0.968955 1.92334
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.960086 0.0144917 759 11.9593
