extrinsic
-0.717178 -0.100745 0.689569 -0.337104
-0.0278648 -0.984559 -0.172823 -0.231557
0.696332 -0.143159 0.703297 1.91965
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.790345 0.0168824 778 13.9248
