extrinsic
-0.989127 0.0212454 -0.145523 0.153667
-0.0124036 -0.998036 -0.0613988 -0.113528
-0.146542 -0.0589262 0.987448 1.14089
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.580871 0.0143655 785 11.8578
