extrinsic
0.958903 -0.101512 -0.264954 -0.215302
0.0185496 -0.909383 0.415546 -0.582602
-0.283127 -0.403384 -0.870127 1.31132
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.433938 0.00658356 759 5.43086
