extrinsic
0.898741 0.037174 0.436902 0.128418
-0.0604123 -0.9764 0.20735 -0.296239
0.434299 -0.212748 -0.875284 1.23923
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.664495 0.0153004 782 12.6294
