extrinsic
0.238566 0.0462848 -0.970023 0.184667
0.135703 -0.990652 -0.0138947 -0.273361
-0.961598 -0.12832 -0.242617 1.30808
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.438311 0.00949582 779 7.83555
