extrinsic
-0.193547 -0.0112669 0.981026 -0.0713712
-0.0787139 -0.996532 -0.0269745 -0.109968
0.977928 -0.0824413 0.191989 1.87638
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.728399 0.0143861 774 11.8632
