extrinsic
-0.979769 -0.048767 0.194098 -0.545164
-0.0244553 -0.933415 -0.357965 -0.490701
0.198631 -0.35547 0.913338 1.37151
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.452212 0.0117694 787 9.71475
