extrinsic
-0.977134 -0.0148376 -0.212105 0.0111806
0.0548348 -0.981403 -0.183962 -0.239348
-0.205431 -0.191386 0.959776 1.13121
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.664939 0.0143172 778 11.8037
