extrinsic
-0.993761 -0.00893433 -0.11117 -0.217883
0.0191528 -0.995649 -0.0911916 -0.212074
-0.109872 -0.0927519 0.989609 1.67887
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.77626 0.0143996 771 11.8784
