extrinsic
-0.841676 -0.0323839 0.539012 -0.250159
-0.157616 -0.939997 -0.302595 -0.530431
0.516468 -0.339643 0.786068 1.53235
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.527353 0.0129864 784 10.7087
