extrinsic
-0.987114 0.0346182 -0.15623 0.25958
-0.0260654 -0.998064 -0.0564654 -0.105327
-0.157882 -0.0516656 0.986105 1.09794
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.601646 0.0149126 785 12.308
