extrinsic
0.989538 -0.123882 -0.0739449 -0.0728774
-0.0955023 -0.946621 0.307876 -0.398951
-0.108138 -0.297593 -0.948549 1.25313
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.348157 0.00846019 784 6.98095
