extrinsic
-0.603074 0.0113221 -0.797605 -0.893764
0.153055 -0.979678 -0.129633 -0.18806
-0.782864 -0.200256 0.589085 0.93072
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.696547 0.0156343 780 12.8913
