extrinsic
-0.993655 0.0374504 -0.106051 -0.0409989
-0.0175439 -0.983002 -0.182754 -0.313081
-0.111093 -0.179734 0.977422 1.537
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.708156 0.0142659 775 11.7642
