extrinsic
0.854752 0.0234332 0.518507 -0.0331165
-0.103991 -0.970993 0.215311 -0.255073
0.508512 -0.237958 -0.827521 1.14645
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.605417 0.0147685 784 12.1839
