extrinsic
-0.578739 0.0562863 -0.813568 -0.405003
-0.012935 -0.998123 -0.0598532 -0.129354
-0.81541 -0.0241159 0.578381 1.10267
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.759988 0.0153285 775 12.6395
