extrinsic
0.402194 0.0451168 0.914442 -0.233013
-0.186549 -0.973794 0.130094 -0.246136
0.896348 -0.222911 -0.383238 1.1681
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.610505 0.0134819 780 11.1264
