extrinsic
-0.618788 0.0577409 -0.783433 -0.124816
0.068868 -0.989468 -0.127321 -0.159429
-0.782534 -0.132738 0.608294 1.05158
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.719796 0.0148309 776 12.2286
