extrinsic
-0.0219086 0.000687893 0.99976 0.123067
-0.0825694 -0.996585 -0.0011237 -0.106474
0.996344 -0.0825741 0.0218906 1.80099
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.717748 0.0146185 776 12.0617
