extrinsic
0.0639111 0.0529839 -0.996548 0.316944
0.122769 -0.991422 -0.0448378 -0.239932
-0.990375 -0.11948 -0.0698676 1.24068
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.452278 0.00995553 779 8.20764
