extrinsic
0.939628 0.0871272 0.330921 -0.156281
0.0134102 -0.975676 0.218805 -0.264851
0.341936 -0.201158 -0.917941 1.11622
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.487544 0.0160131 794 13.2019
