extrinsic
-0.779747 -0.102637 0.617625 -0.368597
-0.0109753 -0.984079 -0.17739 -0.215981
0.625999 -0.145098 0.766206 1.98472
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.855228 0.0172329 775 14.2107
