extrinsic
-0.447154 0.035947 -0.893734 -0.607962
0.167005 -0.978266 -0.122903 -0.264981
-0.878728 -0.204214 0.431432 1.00092
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.729278 0.0153541 777 12.6594
