extrinsic
-0.456301 0.0847637 -0.885779 0.036576
0.0752024 -0.988218 -0.133306 -0.139289
-0.886642 -0.127441 0.44455 0.951192
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.607228 0.0151759 785 12.5203
