extrinsic
0.888986 -0.0491595 0.455288 -0.296933
-0.165339 -0.961612 0.219009 -0.394473
0.427044 -0.269973 -0.862988 1.44522
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.746954 0.0150748 775 12.4299
