extrinsic
0.313728 0.049353 0.948229 0.252031
-0.220522 -0.967555 0.12332 -0.303879
0.92355 -0.247794 -0.292666 1.35983
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.589237 0.01308 780 10.7917
