extrinsic
0.994684 -0.0746952 -0.0708865 -0.246394
-0.0544403 -0.965744 0.253723 -0.323955
-0.08741 -0.248515 -0.964676 1.27848
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.362352 0.00827037 781 6.82151
