extrinsic
-0.560525 -0.0175348 0.827952 0.00835224
-0.252563 -0.948527 -0.191074 -0.513241
0.788685 -0.316212 0.527244 1.6034
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.539678 0.014016 786 11.5563
