extrinsic
0.379344 -0.110678 -0.918612 -0.205374
0.15495 -0.9712 0.181001 -0.141024
-0.912189 -0.211 -0.351269 0.835271
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.383866 0.00859575 780 7.08855
