extrinsic
-0.998048 -0.0133382 -0.061004 -0.149568
0.0188505 -0.9957 -0.0906969 -0.215213
-0.059532 -0.0916699 0.994008 1.70363
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.770363 0.0144722 772 11.9429
