extrinsic
0.987252 -0.100207 -0.123663 -0.265924
-0.038587 -0.904446 0.424839 -0.551189
-0.154419 -0.414652 -0.896783 1.26396
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.406252 0.0081092 775 6.69088
