extrinsic
-0.497893 -0.00370312 0.867231 -0.0165995
-0.263905 -0.951919 -0.155577 -0.491003
0.82611 -0.306327 0.472976 1.58817
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.514989 0.0137356 787 11.3249
