extrinsic
-0.996331 -0.0794302 -0.0318693 -0.612086
0.0855465 -0.93545 -0.34295 -0.434178
-0.00257156 -0.344418 0.938813 1.25491
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.424916 0.0109085 786 8.99899
