extrinsic
-0.00703265 -0.0921859 -0.995717 -0.579176
0.231317 -0.968884 0.0880679 -0.104219
-0.972853 -0.229707 0.028138 0.651614
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.458049 0.0102167 780 8.42711
