extrinsic
0.0320729 -0.0449079 -0.998476 0.245
0.235644 -0.970489 0.0512184 -0.30023
-0.97131 -0.236928 -0.0205441 1.23999
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.522215 0.0108252 777 8.9334
