extrinsic
0.924867 -0.0595873 0.375593 0.767171
-0.115758 -0.984892 0.128792 -0.349583
0.362244 -0.162593 -0.917792 1.74183
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.910694 0.0167805 771 13.8485
