extrinsic
-0.953034 -0.0134439 -0.302566 -0.205103
0.0710407 -0.981066 -0.180175 -0.272114
-0.294415 -0.193207 0.935944 1.25566
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.686169 0.0134696 774 11.1116
