extrinsic
0.939744 -0.066908 0.335267 0.673324
-0.154204 -0.958195 0.241005 -0.491687
0.305126 -0.278183 -0.910776 1.69706
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.874279 0.0163232 771 13.4594
