extrinsic
0.422956 -0.0102738 -0.906092 -0.257262
0.221886 -0.96832 0.114554 -0.12082
-0.878564 -0.2495 -0.407277 0.62223
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.350323 0.00778015 780 6.41884
