extrinsic
0.447536 -0.0886955 -0.889856 -0.253774
0.204646 -0.958506 0.198461 -0.206909
-0.870535 -0.270924 -0.410815 0.857491
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.407648 0.00759436 771 6.2629
