extrinsic
0.973608 0.0165107 0.227628 0.587892
-0.0155653 -0.990254 0.138402 -0.170076
0.227694 -0.138293 -0.963862 1.49801
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.871895 0.0176335 775 14.5379
