extrinsic
0.999651 0.0106204 -0.0241845 -0.170197
0.0164359 -0.966859 0.25478 -0.422678
-0.0206771 -0.255088 -0.966697 1.5017
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.579312 0.0145219 785 11.979
