extrinsic
-0.96201 0.0148912 -0.272607 -0.0777518
0.00383329 -0.997676 -0.0680257 -0.134744
-0.272986 -0.0664865 0.959718 1.21895
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.662102 0.0142673 778 11.762
