extrinsic
0.0328809 -0.10873 -0.993527 -0.13972
0.184008 -0.976414 0.112947 -0.165968
-0.982375 -0.186531 -0.0120982 0.991518
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.534751 0.0103385 773 8.52639
