extrinsic
-0.600007 0.0654957 -0.797309 -0.0145361
0.0692502 -0.98865 -0.133327 -0.152916
-0.796992 -0.135211 0.588661 1.03667
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.703695 0.0147755 777 12.1843
