extrinsic
0.586433 -0.130038 -0.799492 -0.0305067
0.223131 -0.922906 0.31378 -0.464963
-0.778659 -0.362402 -0.512206 1.1669
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.327127 0.00710479 779 5.86176
