extrinsic
-0.474925 0.0813578 -0.876257 0.184514
0.0783276 -0.987858 -0.134172 -0.132184
-0.876534 -0.132357 0.462786 0.91061
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.573662 0.0150634 787 12.4286
