extrinsic
0.158431 -0.112725 -0.980914 -0.128189
0.176983 -0.974129 0.140531 -0.159654
-0.971379 -0.19587 -0.134382 0.937775
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.456475 0.00947851 777 7.82127
