{
    "extrinsic": [3.5640002421153172e-02, 9.9786432954622106e-01,
        -5.4740935749134578e-02, 1.0951525717973709e-01,
        -9.7262110862409989e-03, -5.4426799113952706e-02,
        -9.9847039232824297e-01, -3.1793252564966679e-03,
        -9.9931736252570236e-01, 3.6117909096182677e-02,
        7.7656678524001821e-03, -3.9152929186820984e-01, 0, 0, 0, 1],
    "intrinsic": [1.2100629810000000e+03, 0.0, 1.0224299030000000e+03, 
                0.0,1.2058507139999999e+03, 7.9254164400000002e+02, 
                0.0, 0.0, 1.0]
}