extrinsic
-0.582265 0.0758053 -0.809457 0.0714043
0.0678278 -0.987643 -0.141283 -0.14544
-0.810165 -0.137168 0.569928 0.999965
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.668049 0.0150576 781 12.4281
