extrinsic
0.999992 0.00353314 0.00192561 -0.0755534
0.00283736 -0.958477 0.285154 -0.448881
0.00285315 -0.285147 -0.95848 1.43753
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.541397 0.0135791 785 11.201
