extrinsic
-0.724732 0.0407296 -0.687826 -0.292082
0.0982306 -0.981948 -0.161647 -0.201696
-0.681993 -0.184716 0.707648 1.02157
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.691619 0.0145336 777 11.9842
