extrinsic
0.821741 -0.122021 -0.556644 -0.150463
0.128114 -0.912244 0.389099 -0.55499
-0.555273 -0.391053 -0.733995 1.30881
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.432385 0.0068224 762 5.63105
