extrinsic
0.94448 -0.03304 0.326904 -0.341093
-0.119201 -0.961604 0.247204 -0.380192
0.306184 -0.272446 -0.912154 1.34417
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.591218 0.0153902 787 12.7033
