extrinsic
0.904529 -0.0370904 0.424795 -0.366839
-0.150282 -0.960018 0.236178 -0.390884
0.399051 -0.277469 -0.873939 1.37407
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.678714 0.0152501 780 12.5738
