extrinsic
0.997025 -0.0143479 0.0757293 0.0645507
-0.0373966 -0.949176 0.312516 -0.464897
0.0673965 -0.314419 -0.946889 1.38682
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.57828 0.0139577 783 11.5072
