extrinsic
-0.0369091 0.0702765 -0.996844 0.379063
0.108617 -0.991332 -0.0739095 -0.188979
-0.993398 -0.111002 0.0289559 1.15729
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.430266 0.0114271 787 9.4234
