extrinsic
0.220057 0.0273763 0.975103 0.312225
-0.106972 -0.9929 0.052017 -0.19315
0.969604 -0.115755 -0.215566 1.70067
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.753036 0.014354 772 11.8343
