extrinsic
-0.997211 -0.00629615 0.0743716 0.145267
-0.00764459 -0.982579 -0.185685 -0.287003
0.0742451 -0.185736 0.979791 1.28484
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.604883 0.0152263 785 12.5575
