extrinsic
-0.909018 0.0603637 -0.412363 -0.601226
0.028678 -0.97805 -0.20639 -0.382798
-0.41577 -0.199438 0.887333 1.55936
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.808445 0.0140873 767 11.6134
