extrinsic
0.375362 0.0456487 0.925754 -0.136715
-0.192891 -0.973072 0.126193 -0.265004
0.906585 -0.225938 -0.356449 1.24766
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.664357 0.0134073 775 11.055
