extrinsic
0.769487 -0.123165 -0.626673 -0.156865
0.153766 -0.916637 0.368961 -0.533011
-0.619875 -0.380272 -0.686402 1.30378
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.435277 0.00688187 762 5.67926
