extrinsic
-0.417886 -0.0361168 0.907781 -0.218506
-0.109884 -0.989864 -0.0899663 -0.210023
0.90183 -0.137346 0.409682 1.88452
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.718661 0.0146442 776 12.0826
