extrinsic
-0.477274 -0.0877233 -0.874365 0.0393741
0.183144 -0.983085 -0.00133841 -0.162139
-0.859458 -0.160773 0.485267 1.13315
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.765109 0.0146474 773 12.0876
