extrinsic
-0.505459 -0.0505421 0.861369 -0.239814
-0.12073 -0.98432 -0.128602 -0.264722
0.854362 -0.168997 0.491432 1.85729
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.70295 0.0147476 777 12.1619
