extrinsic
0.803792 0.0359632 0.593822 0.0252889
-0.0480748 -0.99098 0.12509 -0.154432
0.592964 -0.129094 -0.794813 1.3579
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.793252 0.015359 773 12.6658
