extrinsic
-0.963294 -0.00443619 -0.268411 -0.380024
0.0278074 -0.996134 -0.0833337 -0.182764
-0.267003 -0.0877387 0.959693 1.53974
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.76007 0.0140038 771 11.557
