extrinsic
0.983152 -0.0200314 0.181688 0.0702836
-0.0750899 -0.950494 0.301533 -0.446326
0.166654 -0.310095 -0.935985 1.40672
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.658688 0.014646 780 12.0825
