extrinsic
0.720097 0.0390271 0.692775 -0.163357
-0.131888 -0.972517 0.191876 -0.258328
0.681224 -0.229538 -0.69516 1.16156
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.626441 0.0145504 782 12.0049
