extrinsic
0.993567 0.0343692 0.107908 0.589622
0.0187727 -0.989638 0.142354 -0.157634
0.111682 -0.139413 -0.983916 1.43317
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.807755 0.0181526 780 14.9668
