extrinsic
-0.622254 -0.0716852 -0.779526 0.106837
0.173579 -0.983644 -0.0481031 -0.155926
-0.763328 -0.165242 0.62452 1.12263
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.783079 0.014653 772 12.0952
