extrinsic
0.339161 0.0489109 0.939456 0.106416
-0.207413 -0.970184 0.125391 -0.304243
0.917578 -0.237383 -0.318904 1.37258
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.693972 0.0132612 773 10.9449
