extrinsic
-0.639861 0.053222 -0.766645 -0.255585
0.078038 -0.987942 -0.133717 -0.178208
-0.764518 -0.145388 0.627992 1.04769
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.71729 0.0148053 776 12.2062
