extrinsic
-0.0506633 -0.0521492 -0.997353 0.0645944
0.235013 -0.971216 0.0388444 -0.253983
-0.970671 -0.232423 0.0614608 1.19451
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.647337 0.0121209 772 10.0047
