extrinsic
0.856915 -0.122877 -0.500598 -0.115451
0.100261 -0.912889 0.395703 -0.554299
-0.505613 -0.389274 -0.769949 1.29344
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.41286 0.00675044 764 5.5702
