extrinsic
-0.118461 -0.105038 -0.987387 -0.136814
0.189091 -0.978579 0.0814151 -0.163512
-0.974788 -0.177062 0.135785 1.05842
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.628565 0.0136622 779 11.2714
