extrinsic
0.124623 -0.104586 -0.986677 -0.545671
0.227193 -0.965001 0.130985 -0.093339
-0.965843 -0.24049 -0.0964998 0.586379
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.421775 0.00987983 782 8.1478
