extrinsic
-0.967406 0.0202578 -0.25242 0.292829
0.0230879 -0.985588 -0.167582 -0.16792
-0.252177 -0.167948 0.952995 0.963632
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.570008 0.0144145 785 11.8854
