extrinsic
-0.1505 -0.0184725 -0.988437 -0.726557
0.23029 -0.972976 -0.0168805 -0.164699
-0.961414 -0.230168 0.150687 0.741842
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.563079 0.0139181 784 11.4749
