extrinsic
0.402118 -0.105055 -0.909541 -0.198807
0.158546 -0.970399 0.182179 -0.136335
-0.901756 -0.217461 -0.373559 0.765367
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.420189 0.00858486 776 7.08204
