extrinsic
-0.740398 -0.1027 0.664277 -0.306665
-0.0184745 -0.984776 -0.172842 -0.212801
0.671915 -0.140244 0.727229 1.93418
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.803088 0.0169521 778 13.9918
