extrinsic
-0.959234 -0.00150781 -0.282607 -0.327827
0.0242638 -0.996733 -0.0770388 -0.167202
-0.281568 -0.0807554 0.956137 1.4782
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.713624 0.0138957 774 11.4689
