extrinsic
-0.881359 0.0396252 -0.470782 0.146865
0.0437145 -0.985362 -0.164775 -0.17721
-0.47042 -0.165806 0.866726 0.974873
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.58348 0.0140118 783 11.5547
