extrinsic
-0.786422 -0.026329 0.617128 -0.145074
-0.0948121 -0.982106 -0.162722 -0.32398
0.61037 -0.186479 0.769853 1.91117
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.800588 0.0169274 778 13.9701
