extrinsic
-0.443818 0.0144684 0.896 -0.0685445
-0.268681 -0.956017 -0.117649 -0.461207
0.854889 -0.292953 0.428185 1.58734
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.506643 0.0133949 787 11.0484
