extrinsic
-0.922741 0.0535899 -0.381676 0.165649
-0.0349141 -0.997837 -0.0556946 -0.0919113
-0.383835 -0.0380659 0.922617 1.1397
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.690841 0.0141811 776 11.6954
