extrinsic
0.125247 -0.0374747 -0.991418 0.278154
0.233635 -0.970069 0.0661832 -0.333185
-0.964224 -0.239919 -0.112743 1.28011
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.511754 0.0102364 775 8.44498
