extrinsic
0.368554 0.0470959 0.928412 -0.00329228
-0.198074 -0.971803 0.127927 -0.277252
0.908259 -0.231043 -0.348834 1.31956
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.653263 0.0132998 776 10.9739
