extrinsic
-0.722982 0.0472463 -0.689249 -0.0430743
0.075843 -0.986201 -0.147157 -0.166591
-0.686691 -0.158666 0.709423 0.936236
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.614708 0.0151159 784 12.4656
