extrinsic
0.243036 -0.111665 -0.963568 -0.48197
0.206214 -0.964698 0.163809 -0.0862536
-0.947844 -0.238513 -0.21143 0.581432
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.367306 0.00927516 785 7.64831
