extrinsic
-0.992186 -0.000919392 -0.124764 0.31544
0.0230456 -0.984117 -0.176019 -0.177886
-0.12262 -0.177518 0.976448 0.942113
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.540307 0.0141711 787 11.693
