extrinsic
-0.970892 0.0453586 -0.235183 0.25604
-0.032717 -0.997816 -0.0573806 -0.0930899
-0.237272 -0.0480159 0.970256 1.08252
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.607589 0.014831 784 12.2351
