extrinsic
-0.695736 -0.0849462 0.713257 -0.404504
-0.0450908 -0.985859 -0.161395 -0.22467
0.716881 -0.14445 0.682068 1.90142
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.770584 0.016822 779 13.8749
