extrinsic
0.943079 -0.0648253 0.326188 0.525275
-0.151642 -0.956743 0.24829 -0.476838
0.295983 -0.283621 -0.912115 1.64666
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.851534 0.0162683 773 13.4269
