extrinsic
-0.93649 -0.0112625 -0.350515 -0.358822
0.0777544 -0.981277 -0.176211 -0.276106
-0.341967 -0.192274 0.919831 1.38862
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.705073 0.0135138 773 11.1512
