extrinsic
-0.996052 -0.0654332 0.0599826 -0.609372
0.0396447 -0.932521 -0.358932 -0.460159
0.0794212 -0.355137 0.931434 1.29079
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.424427 0.0110655 787 9.13297
