extrinsic
0.97998 -0.0319531 0.196514 -0.734801
-0.0830609 -0.962653 0.257682 -0.318611
0.180941 -0.268846 -0.946035 1.18012
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.37619 0.00770544 776 6.35561
