extrinsic
-0.314882 -0.0224537 0.948865 -0.171163
-0.101437 -0.993198 -0.0571646 -0.167231
0.943695 -0.11425 0.310463 1.87603
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.711378 0.0138742 774 11.45
