extrinsic
-0.992104 -0.01275 -0.124765 0.21719
0.0357841 -0.982243 -0.18417 -0.193577
-0.120201 -0.187181 0.974944 1.00011
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.532013 0.0143764 788 11.8606
