extrinsic
-0.285232 -0.097641 -0.953472 -0.075458
0.191852 -0.980481 0.0430141 -0.170808
-0.939061 -0.170657 0.298397 1.11864
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.722169 0.0143319 775 11.8294
