extrinsic
-0.605342 0.0570244 -0.79392 -1.15013
0.125936 -0.978005 -0.166269 -0.266384
-0.78594 -0.200633 0.584846 1.02871
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.7745 0.0157328 776 12.9831
