extrinsic
-0.688053 0.00727705 -0.725624 -0.631676
0.139277 -0.980035 -0.141894 -0.18975
-0.712169 -0.198693 0.673303 0.978885
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.679735 0.0153793 781 12.691
