extrinsic
0.986822 0.0166546 -0.16095 -0.260227
0.0538588 -0.971779 0.229664 -0.381601
-0.152583 -0.235306 -0.95987 1.55679
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.585618 0.0160151 788 13.2055
