extrinsic
-0.475191 0.0467859 -0.878638 -0.607599
0.0724726 -0.993111 -0.0920765 -0.211613
-0.876893 -0.107431 0.468527 1.06053
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.758916 0.0157689 777 13.0114
