extrinsic
-0.999044 -0.0300293 0.0317559 -0.766736
0.0221147 -0.97403 -0.225338 -0.36359
0.0376979 -0.22442 0.973763 1.73964
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.786037 0.0149865 772 12.3556
