extrinsic
0.481176 -0.133949 -0.86633 0.0280425
0.24549 -0.928125 0.279853 -0.436008
-0.841549 -0.347334 -0.413708 1.12047
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.299948 0.00700634 782 5.77891
