extrinsic
-0.763015 0.016564 -0.646168 -0.353777
0.113077 -0.980835 -0.158668 -0.203625
-0.636413 -0.194133 0.74652 1.04941
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.682714 0.0144389 778 11.9162
