extrinsic
0.503018 -0.0392818 -0.863383 -0.317501
0.210661 -0.963265 0.16656 -0.157914
-0.838209 -0.265664 -0.476264 0.731637
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.376735 0.00780483 777 6.44109
