extrinsic
-0.977338 -0.0133793 -0.21126 -0.389079
0.0322652 -0.995755 -0.0862042 -0.197832
-0.20921 -0.091067 0.973621 1.57833
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.752261 0.0140154 771 11.5581
