extrinsic
0.954567 -0.0377481 0.295596 0.791216
-0.0813029 -0.987302 0.136471 -0.286063
0.286692 -0.154303 -0.945515 1.59618
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.928786 0.0173419 771 14.2994
