extrinsic
-0.619643 -0.0308339 0.784278 0.0271531
-0.235629 -0.945829 -0.223352 -0.524055
0.748679 -0.323197 0.578811 1.58998
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.539839 0.0141741 787 11.6949
