extrinsic
0.9553 -0.0509707 0.291211 0.244693
-0.133201 -0.953588 0.270051 -0.447449
0.263931 -0.296769 -0.917752 1.51317
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.786182 0.0155993 775 12.8756
