extrinsic
-0.93678 0.00417621 -0.349894 -0.342428
0.0225785 -0.997124 -0.0723512 -0.160139
-0.34919 -0.0756772 0.933991 1.38363
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.677223 0.0140226 777 11.5728
