extrinsic
-0.593994 -0.0677449 0.801612 -0.287474
-0.108336 -0.980635 -0.163151 -0.30617
0.797141 -0.183754 0.575153 1.8911
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.747023 0.0166992 780 13.7724
