extrinsic
0.327192 0.00706399 -0.944931 -0.268453
0.212789 -0.97484 0.0663927 -0.101114
-0.920688 -0.222794 -0.320463 0.609257
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.332227 0.00840009 785 6.9263
