extrinsic
0.998656 0.0518151 0.00125891 0.561579
0.0511007 -0.988368 0.143242 -0.146842
0.00866636 -0.142985 -0.989687 1.36492
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.747294 0.0183148 784 15.1061
