extrinsic
0.966021 -0.0338812 0.256232 0.126949
-0.109135 -0.952129 0.285551 -0.448097
0.234291 -0.303812 -0.923475 1.45106
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.730278 0.0153958 778 12.7082
