extrinsic
0.996919 0.0708558 -0.0336592 0.418524
0.0750742 -0.986211 0.147482 -0.154611
-0.0227451 -0.149554 -0.988492 1.37608
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.748382 0.0183058 784 15.1001
