extrinsic
0.327973 0.0397592 -0.94385 0.203899
0.144803 -0.989423 0.00863767 -0.302529
-0.933524 -0.139505 -0.330261 1.37475
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.472307 0.00777332 764 6.41112
