extrinsic
-0.5263 0.0365107 -0.849514 -1.11294
0.149642 -0.979507 -0.134805 -0.210263
-0.837028 -0.198071 0.510052 0.885804
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.700704 0.0154971 780 12.7885
