extrinsic
-0.713561 0.059183 -0.698089 -0.18382
-0.0241493 -0.997911 -0.059917 -0.101606
-0.700177 -0.025896 0.7135 1.13545
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.780827 0.0152017 774 12.5469
